Jacking control method and device for tower belt crane, tower belt crane and storage medium

Abstract

The invention relates to the technical field of building machinery, in particular to a jacking control method and device for a tower belt conveyor, the tower belt conveyor and a storage medium. The tower belt conveyor comprises a tower crane standard knot, a belt climbing frame arranged on the tower crane standard knot in a sleeving mode and two driving systems used for driving the two sides of the belt climbing frame to ascend and descend correspondingly; the jacking control method comprises the steps that a jacking operation instruction is obtained; the two driving systems are determined to be a master driving system and a slave driving system respectively; a first driving speed of a main driving system is determined according to the jacking operation instruction, and the main driving system is controlled to execute driving operation at the first driving speed; acquiring a current position deviation value between the master driving system and the slave driving system in real time; and determining a second driving speed of the slave driving system according to the current position deviation value, and controlling the slave driving system to execute driving operation at the second driving speed, so that the two sides of the belt climbing frame move synchronously. By the adoption of the jacking control method, the belt climbing frame can execute lifting operation more stably.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly relates to a jacking control method, device, tower belt machine and storage medium for a tower belt machine. Background Art

[0002] A tower belt machine is a combination formed by adding a suspended belt conveyor system to a tower crane, and is a new type of advanced concrete pouring equipment. Compared with the self-adding section movement of a tower crane, the jacking of the belt conveyor is an operation with very high risk. And the forces on both sides of the belt conveyor are uneven. If a hydraulic system is only set on one side to drive the lifting of the climbing frame, it will cause an increase in the countermeasure bearing pressure, affecting and bringing potential safety hazards. Therefore, the belt conveyor usually has hydraulic systems on both sides to drive the climbing frame of the belt conveyor to rise.

[0003] In the prior art, the jacking control system of the belt conveyor lacks a mature and effective technical solution, and the professional qualities of the jacking operators vary, making it difficult to ensure that the hydraulic control systems on both sides can jack synchronously, resulting in a low level of smoothness during the jacking process of the belt conveyor. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a jacking control method, device, tower belt machine and storage medium for a tower belt machine, so as to solve the technical problem of low smoothness during the jacking process of the belt conveyor existing in the prior art.

[0005] To achieve the above purpose, the first aspect of the present invention provides a jacking control method for a tower belt machine. The tower belt machine includes a tower crane standard section, a belt climbing frame sleeved on the tower crane standard section, and two driving systems for respectively driving the lifting of both sides of the belt climbing frame. The jacking control method includes:

[0006] Obtain a jacking operation instruction;

[0007] Determine the two driving systems as the main driving system and the slave driving system respectively;

[0008] Determine the first driving speed of the main driving system according to the jacking operation instruction and control the main driving system to perform a driving operation at the first driving speed;

[0009] Obtain the current position deviation amount between the main driving system and the slave driving system in real time;

[0010] Determine the second driving speed of the slave driving system according to the current position deviation amount and control the slave driving system to perform a driving operation at the second driving speed, so that both sides of the belt climbing frame move synchronously.

[0011] In the embodiments of the present invention, the jacking control method further includes: swapping the master-slave relationship of the two driving systems at every preset time period.

[0012] In an embodiment of the present invention, the steps of determining the second driving speed of the slave driving system according to the current position deviation amount and controlling the slave driving system to perform a driving operation at the second driving speed so that both sides of the belt climbing frame move synchronously include: inputting the current position deviation amount into a speed adjustment PID algorithm model to output an adjustment parameter; adjusting the driving speed of the slave driving system according to the adjustment parameter.

[0013] In an embodiment of the present invention, the jacking control method further includes: importing the current position deviation amount into an initial PID algorithm model to output an initial adjustment parameter; adjusting the driving speed of the slave driving system according to the initial adjustment parameter; when the synchronization degree between the slave driving system and the master driving system is lower than a preset value, adjusting the coefficients of the initial PID algorithm model until the synchronization degree between the slave driving system and the master driving system is higher than or equal to the preset value; determining the coefficients of the initial PID algorithm model as the coefficients of the speed adjustment PID algorithm model.

[0014] In an embodiment of the present invention, the jacking control method further includes: when the absolute value of the current position deviation amount is greater than a preset threshold, controlling the two driving systems to enter the manual mode; manually controlling one of the driving systems to act alone until the absolute value of the current position deviation amount is less than or equal to the preset threshold.

[0015] In an embodiment of the present invention, the jacking control method further includes: after the two sides of the belt climbing frame move synchronously, obtaining the actual driving amounts and target driving amounts of the two driving systems in real time; comparing the two sets of actual driving amounts and target driving amounts respectively; when the absolute value of the difference between any set of actual driving amount and target driving amount is greater than a preset displacement amount threshold, determining that a fault occurs in the master driving system or the slave driving system.

[0016] In an embodiment of the present invention, both of the two driving systems include hydraulic cylinders and hydraulic driving members for supplying oil to the hydraulic cylinders, and the driving ends of the hydraulic cylinders are connected to the belt climbing frame. The jacking control method further includes: obtaining the actual hydraulic oil pressures and target hydraulic oil pressures of the two hydraulic cylinders in real time; comparing the two sets of actual hydraulic oil pressures and target hydraulic oil pressures respectively; when the absolute value of the difference between any set of actual hydraulic oil pressure and target hydraulic oil pressure is greater than a preset hydraulic oil pressure threshold, determining that a fault occurs in the master driving system or the slave driving system.

[0017] A second aspect of the present invention provides a jacking control device for a tower belt machine. The jacking control device includes: a memory configured to store instructions; a processor configured to call instructions from the memory and capable of implementing the above-mentioned jacking control method for a tower belt machine when executing the instructions.

[0018] In a third aspect of the present invention, a tower belt machine is provided. The tower belt machine includes: a tower crane standard section; a belt climbing frame sleeved on the tower crane standard section; two drive systems for respectively driving the two sides of the belt climbing frame to lift or lower. Each drive system includes a hydraulic cylinder, an oil pump, and an electro-hydraulic proportional valve provided on the connecting oil path between the hydraulic cylinder and the oil pump. The above-mentioned jacking control device for the tower belt machine, the processor is electrically connected to the electro-hydraulic proportional valve and is configured to: determine the first driving opening of the electro-hydraulic proportional valve of the main drive system according to the jacking operation instruction and control the electro-hydraulic proportional valve to perform a driving operation with the first driving opening; obtain the current displacement deviation amount between the two hydraulic cylinders in real time; determine the second driving opening of the electro-hydraulic proportional valve of the slave drive system according to the current displacement deviation amount and control the electro-hydraulic proportional valve to perform a driving operation with the second driving opening.

[0019] In a fourth aspect of the present invention, a machine-readable storage medium is provided. Instructions are stored on the machine-readable storage medium, and the instructions are used to cause a machine to execute the above-mentioned jacking control method for the tower belt machine.

[0020] In the above technical solution, the jacking control method provided by the present invention is applied to a tower belt machine. The tower belt machine includes a tower crane standard section, a belt climbing frame sleeved on the tower crane standard section, and two drive systems for respectively driving the two sides of the belt climbing frame to lift or lower. Among them, the belt climbing frame can drive the belt transmission mechanism of the tower belt machine to move up and down to realize the transportation of materials such as concrete. The two drive systems are respectively used to drive the two sides of the belt climbing frame to lift or lower. Under normal working conditions, the two drive systems drive synchronously to make the two sides of the belt climbing frame lift or lower synchronously. The jacking control method includes the following steps: First, obtain the jacking operation instruction and respectively determine the two drive systems as the main drive system and the slave drive system. Then, determine the drive parameters of the main drive system according to the jacking operation instruction and control the main drive system to perform a driving operation. At the same time, obtain the position deviation amount between the main drive system and the slave drive system in real time, determine the second driving speed of the slave drive system according to the position deviation amount, and control the slave drive system to perform a driving operation with the second driving speed to ensure that the two sides of the belt climbing frame can move synchronously. In this way, the present invention can significantly improve the smoothness and safety of the belt climbing frame during jacking, reduce the operation difficulty and risk, and provide more reliable and efficient equipment support for construction.

[0021] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification. Together with the following specific implementation, they are used to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the drawings:

[0023] Figure 1 Schematically shown is a flowchart of a jacking control method for a tower belt machine according to an embodiment of the present invention;

[0024] Figure 2 It is a structural block diagram of a tower belt machine provided according to an embodiment of the present invention;

[0025] Figure 3 It is an internal structure diagram of a computer device provided according to an embodiment of the present invention. Detailed implementation manners

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] It should be noted that the acquisition, transmission, storage, use, processing, etc. of data in the technical solutions of the present invention all comply with the relevant regulations of national laws and regulations. In the embodiments of the present invention, some industry-existing solutions such as certain software, components, models, etc. may be mentioned. They should be regarded as exemplary, and their purpose is only to illustrate the feasibility in the implementation of the technical solutions of the present invention, but it does not mean that the applicant has already or necessarily used this solution.

[0028] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, then the directional indications are only used to explain the relative position relationship and movement conditions between components in a certain specific posture (as shown in the drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0029] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, then the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0030] Figure 1The flowchart of a jacking control method for a tower belt machine according to an embodiment of the present invention is schematically shown. As Figure 1 shown, an embodiment of the present invention provides a jacking control method for a tower belt machine. The tower belt machine includes a tower crane standard section, a belt climbing frame sleeved on the tower crane standard section, and two drive systems for respectively driving the lifting of both sides of the belt climbing frame. The tower crane standard section plays a supporting role and can be used to support components such as the belt climbing frame, the belt conveyor, the tower crane boom, and the tower crane counterweight arm for high-altitude operations. One belt conveyor can be respectively connected to both sides of the belt climbing frame. The belt conveyor can be used to transport materials such as concrete at high altitude. The two drive systems can respectively drive both sides of the belt climbing frame so that the belt climbing frame moves up and down stably. The jacking control method may include the following steps:

[0031] S101. Obtain a jacking operation instruction.

[0032] S102. Respectively determine the two drive systems as the main drive system and the slave drive system.

[0033] S103. Determine the first driving speed of the main drive system according to the jacking operation instruction and control the main drive system to perform a driving operation at the first driving speed.

[0034] S104. Real-time obtain the current position deviation amount between the main drive system and the slave drive system.

[0035] S105. Determine the second driving speed of the slave drive system according to the current position deviation amount and control the slave drive system to perform a driving operation at the second driving speed so that both sides of the belt climbing frame move synchronously.

[0036] The climbing belt machine is a new type of construction machinery that combines the functions of a belt conveyor and a tower crane. It uses the standard section of the tower crane to support the belt conveyor to transport concrete at high altitude, thereby improving the concrete pouring efficiency. However, the jacking control of the climbing belt machine is a complex and crucial process, which is directly related to the stability and safety of the equipment.

[0037] In the embodiment of the present invention, we propose a jacking control method for a tower belt machine. First, obtain a jacking operation instruction, and respectively determine the two drive systems as the main drive system and the slave drive system. Then, determine the first driving speed of the main drive system according to the jacking operation instruction, and control the main drive system to start performing a driving operation according to the first driving speed. When it is found that there is a position deviation between the main drive system and the slave drive system, determine the second driving speed of the slave drive system according to the current position deviation amount, so that the slave drive system can correct the deviation according to the second driving speed, thereby keeping both sides of the belt climbing frame moving up and down synchronously.

[0038] By adopting the above jacking control method, not only the stability and safety of the tower belt machine during the jacking process are improved, but also the operation difficulty and risk are effectively reduced, providing more reliable and efficient equipment support for construction.

[0039] In one embodiment, the jacking control method further includes: swapping the master-slave relationship of the two drive systems at every preset time interval. When the slave drive system adjusts the speed according to the above jacking control method, the slave drive system will experience more severe wear and its service life will decrease faster compared to the master drive system because it frequently operates and adjusts speed according to the master drive system, which will affect the overall service life of the tower belt machine. Based on the above problems, in the present invention, when controlling the lifting movement of the belt climbing frame, the roles of the current master drive system and the slave drive system are swapped at every preset time interval, such as 1 hour. In this way, the wear degree and load of the two drive systems can be more balanced during long-term operation, thereby extending the service life of the entire system.

[0040] In one embodiment, the step of determining the second driving speed of the slave drive system according to the current position deviation amount and controlling the slave drive system to perform a driving operation at the second driving speed to make the two sides of the belt climbing frame move synchronously includes: inputting the current position deviation amount into the speed adjustment PID algorithm model to output an adjustment parameter; adjusting the driving speed of the slave drive system according to the adjustment parameter. In order to enable the slave drive system to adjust the speed in real time based on the current displacement deviation amount, the embodiment of the present invention adopts inputting the position deviation amount into the speed adjustment PID algorithm model to output an adjustment parameter, which can be used to adjust the driving speed of the slave drive system, thereby achieving precise control of the synchronous movement of the two sides of the belt climbing frame. The PID algorithm model (Proportional-Integral-Derivative controller) is a control algorithm applied in the field of industrial automation control. It calculates the proportion, integral, and derivative of the deviation signal and outputs the corresponding control quantity to achieve precise control of the controlled object. In this way, the synchronism of the two drive systems can be higher, and the stability and safety of the tower belt machine during the jacking process can be further improved.

[0041] In one embodiment, the jacking control method further includes: importing the current position deviation amount into the initial PID algorithm model to output an initial adjustment parameter; adjusting the driving speed of the slave drive system according to the initial adjustment parameter; when the synchronism between the slave drive system and the master drive system is lower than the preset value, adjusting the coefficients of the initial PID algorithm model until the synchronism between the slave drive system and the master drive system is higher than or equal to the preset value; determining the coefficients of the initial PID algorithm model as the coefficients of the speed adjustment PID algorithm model.

[0042] In practical applications, the coefficients of the initial PID algorithm model may not be fully applicable to the current tower belt machine or specific working conditions. Therefore, the embodiments of the present invention propose that in the initial stage, first use the initial PID algorithm model to output the initial adjustment parameters according to the current position deviation, and adjust the driving speed of the slave driving system according to the initial adjustment parameters. Then, the synchronization degree between the slave driving system and the master driving system is monitored in real time. If the synchronization degree is lower than the preset value, it indicates that the coefficients of the initial PID algorithm model need to be adjusted. At this time, the coefficients of the initial PID algorithm model can be gradually adjusted, and the change of the synchronization degree is observed until the synchronization degree is higher than or equal to the preset value. Among them, the synchronization degree is determined according to the speed deviation value and the position deviation between the two driving systems. Finally, the adjusted coefficients of the initial PID algorithm model are determined as the coefficients of the speed adjustment PID algorithm model for subsequent speed adjustment processes. Through the above jacking control method, the PID algorithm model can be made more adaptable to the actual working conditions, improving the accuracy and stability of control.

[0043] In one embodiment, the jacking control method further includes: when the absolute value of the current position deviation is greater than the preset threshold, controlling the two driving systems to enter the manual mode; manually controlling one of the driving systems to act alone until the absolute value of the current position deviation is less than or equal to the preset threshold. During the lifting and lowering movement of the belt climbing frame, when any one of the two driving systems fails, the situation where the absolute value of the current position deviation is greater than the preset threshold will occur. Therefore, it is necessary for the operator to manually adjust the driving system to restore the two driving systems to the normal working state. In the embodiments of the present invention, when it is determined that the absolute value of the current position deviation is greater than the preset threshold, the two driving systems will be controlled to enter the manual mode, and the operator manually controls one of the driving systems to act alone until the absolute value of the current position deviation is less than or equal to the preset threshold, so that the two driving systems re-enter the normal working state. By adopting the above jacking control method, when an abnormal situation occurs, the system can be timely switched to the manual mode to avoid further expansion of the fault, ensuring the safety and stability of the equipment. In addition, the setting of the manual mode also increases the flexibility of operation, enabling the operator to precisely control the equipment under special circumstances to meet the actual construction requirements.

[0044] In one embodiment, the jacking control method further includes: obtaining in real time the actual driving amounts and target driving amounts of the two driving systems; comparing the two sets of actual driving amounts and target driving amounts respectively; and determining that a main driving system or a slave driving system fails when the absolute value of the difference between the actual driving amount and the target driving amount in any one set is greater than a preset displacement threshold. After the synchronous movement on both sides of the belt climbing frame, in order to ensure that both driving systems can continuously and stably perform driving operations, it is necessary to detect in real time the actual driving amounts of the two driving systems and determine the target driving amounts of the two driving systems. By comparing the target driving amount with the actual driving force, when the absolute value of the difference between the actual driving amount and the target driving amount in any one set is greater than the preset displacement threshold, it can be determined that the driving system of this set, that is, the main driving system or the slave driving system, fails. The failure may be caused by reasons such as damage to mechanical components of the driving system, failure of electrical components, or abnormality of the control system. After determining the failure, the jacking operation can be stopped immediately, and corresponding troubleshooting and repair measures can be taken to ensure the safety and stability of the tower belt machine.

[0045] In one embodiment, both driving systems include hydraulic cylinders and hydraulic driving components for supplying oil to the hydraulic cylinders. The driving ends of the hydraulic cylinders are connected to the belt climbing frame. The jacking control method further includes: obtaining in real time the actual hydraulic oil pressures and target hydraulic oil pressures of the two hydraulic cylinders; comparing the two sets of actual hydraulic oil pressures and target hydraulic oil pressures respectively; and determining that a main driving system or a slave driving system fails when the absolute value of the difference between the actual hydraulic oil pressure and the target hydraulic oil pressure in any one set is greater than a preset hydraulic oil pressure threshold. Both driving systems include hydraulic cylinders and hydraulic driving components for supplying oil to the hydraulic cylinders. The hydraulic driving component can be a hydraulic pump. In order to ensure that the hydraulic cylinders in both driving systems can normally provide driving force, it is necessary to detect in real time the actual hydraulic oil pressures of the two hydraulic cylinders and determine the target hydraulic oil pressures of the two hydraulic cylinders. By comparing the target hydraulic oil pressure with the actual hydraulic oil pressure, when the absolute value of the difference between the actual hydraulic oil pressure and the target hydraulic oil pressure in any one set is greater than the preset hydraulic oil pressure threshold, it can be determined that the driving system of this set fails, that is, the main driving system or the slave driving system fails. The failure may be caused by reasons such as damage to the seals of the hydraulic cylinders, leakage of hydraulic oil, or failure of the hydraulic driving components. After determining the failure, the jacking operation can be stopped immediately, and the hydraulic cylinders and hydraulic driving components can be inspected and repaired to ensure the safety and stability of the tower belt machine. In this way, the working state of the hydraulic cylinders can be monitored, potential failures can be detected and solved in time, and the reliability and durability of the equipment can be improved.

[0046] In one embodiment, a jacking control device for a tower belt machine is provided. The jacking control device includes: a memory configured to store instructions; and a processor configured to call instructions from the memory and, when executing the instructions, be capable of implementing the above-mentioned jacking control method for the tower belt machine.

[0047] In one embodiment, as Figure 2 shown, it is a structural block diagram of a tower belt machine according to an embodiment of the present invention. The tower belt machine includes: a tower crane standard section; a belt climbing frame sleeved on the tower crane standard section; two drive systems for respectively driving the two sides of the belt climbing frame to lift and lower. Each drive system includes a hydraulic cylinder, an oil pump, and an electro-hydraulic proportional valve provided on the connecting oil path between the hydraulic cylinder and the oil pump; the above-mentioned jacking control device for the tower belt machine, the processor is electrically connected to the electro-hydraulic proportional valve and is configured to: determine a first driving opening degree of the electro-hydraulic proportional valve of the main drive system according to a jacking operation instruction and control the electro-hydraulic proportional valve to perform a driving operation with the first driving opening degree; obtain in real time the current displacement deviation amount between the two hydraulic cylinders; determine a second driving opening degree of the electro-hydraulic proportional valve of the slave drive system according to the current displacement deviation amount and control the electro-hydraulic proportional valve to perform a driving operation with the second driving opening degree.

[0048] The electro-hydraulic proportional valve can adjust the opening degree of its own valve port according to the magnitude of the input current, and thus adjust the hydraulic oil flow rate input to the hydraulic cylinder. The speed of the piston rod of the hydraulic cylinder extending and retracting depends on the speed of the hydraulic oil flow rate input. After receiving the jacking operation control instruction, the processor determines any one of the two drive systems as the main drive system and the other as the slave drive system, and determines the first driving opening degree of the electro-hydraulic proportional valve of the main drive system according to the jacking operation instruction, so as to control the electro-hydraulic proportional valve to start performing a driving operation with the first driving opening degree. The opening degree of the valve port of the electro-hydraulic proportional valve of the slave drive system is adjusted based on the current displacement deviation amount between the two hydraulic cylinders. The processor calculates the second driving opening degree of the electro-hydraulic proportional valve of the slave drive system according to the current displacement deviation amount, and controls the electro-hydraulic proportional valve of the slave drive system to perform a driving operation based on the second driving opening degree, thereby realizing the synchronous control of the lifting and lowering movements of the two sides of the belt climbing frame. In this way, the tower belt machine can maintain higher stability and safety during the jacking process, while reducing the operation difficulty and safety risk.

[0049] In one embodiment, the tower belt machine further includes: a sensor assembly configured to detect in real time the operating parameters of the tower belt machine and send the detected operating parameters to the processor. The sensor assembly may include a displacement sensor, a pressure sensor, a temperature sensor, etc., for detecting in real time various operating parameters of the tower belt machine, such as the displacement of the hydraulic cylinder, the hydraulic oil pressure, the temperature of the drive system, etc. The processor may receive the operating parameters sent by the sensor assembly and monitor and evaluate the operating state of the tower belt machine based on these parameters. When it is found that the operating parameters are abnormal, the processor may immediately take corresponding measures, such as stopping the jacking operation, sending out an alarm signal, etc., to ensure the safety and stability of the tower belt machine. In this way, real-time monitoring and intelligent management of the tower belt machine can be achieved, and the reliability and safety of the equipment can be improved.

[0050] In one embodiment, the tower belt machine further includes: a warning device electrically connected to the processor and configured to send out an alarm signal when the processor detects an abnormality. The warning device may be a sound alarm, a light alarm or a display screen, etc., for sending out an alarm signal to the operator when the processor detects an abnormality. The alarm signal may include forms such as sound, light or text information, etc., for reminding the operator to pay attention to the abnormality and take corresponding measures for handling. In this way, the abnormality during the operation of the tower belt machine can be detected and processed in time, avoiding the further expansion of the fault and ensuring the safety and stability of the equipment.

[0051] In one embodiment, there is provided a machine-readable storage medium having instructions stored thereon for causing a machine to execute the above-described jacking control method for a tower belt machine.

[0052] In one embodiment, there is provided a computer device, which may be a server, and its internal structural diagram may be as Figure 3 shown. The computer device includes a processor, a network interface, a memory (not shown in the figure) and a database (not shown in the figure) connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory and a non-volatile storage medium. The non-volatile storage medium stores an operating system, a computer program and a database (not shown in the figure). The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements the jacking control method for a tower belt machine.

[0053] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0054] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices produce means for implementing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0055] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0056] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are performed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0057] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0058] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0059] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0060] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0061] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A jacking control method for a tower belt machine, characterized in that, The tower belt machine includes a tower crane standard section, a belt climbing frame sleeved on the tower crane standard section, and two drive systems for respectively driving the lifting of both sides of the belt climbing frame. The jacking control method includes: Obtain a jacking operation instruction; Determine the two drive systems as the main drive system and the slave drive system respectively; Determine the first drive speed of the main drive system according to the jacking operation instruction and control the main drive system to perform a drive operation at the first drive speed; Obtain the current position deviation amount between the main drive system and the slave drive system in real time; Determine the second drive speed of the slave drive system according to the current position deviation amount and control the slave drive system to perform a drive operation at the second drive speed so that both sides of the belt climbing frame move synchronously.

2. The jacking control method for the tower belt machine according to claim 1, wherein The jacking control method further includes: Swap the master-slave relationship of the two drive systems every preset time period.

3. The jacking control method for a tower belt machine according to claim 1, characterized in that The step of determining the second drive speed of the slave drive system according to the current position deviation amount and controlling the slave drive system to perform a drive operation at the second drive speed so that both sides of the belt climbing frame move synchronously includes: Input the current position deviation amount into a speed adjustment PID algorithm model to output an adjustment parameter; Adjust the drive speed of the slave drive system according to the adjustment parameter.

4. The jacking control method for the tower belt machine according to claim 3, wherein, The jacking control method further includes: Import the current position deviation amount into an initial PID algorithm model to output an initial adjustment parameter; Adjust the drive speed of the slave drive system according to the initial adjustment parameter; In the case that the synchronization degree between the slave drive system and the main drive system is lower than a preset value, adjust the coefficients of the initial PID algorithm model until the synchronization degree between the slave drive system and the main drive system is higher than or equal to the preset value; Determine the coefficients of the initial PID algorithm model as the coefficients of the speed adjustment PID algorithm model.

5. The jacking control method for the tower belt machine according to claim 1, wherein The jacking control method further includes: In the case that the absolute value of the current position deviation amount is greater than a preset threshold, control the two drive systems to enter the manual mode; Manually control one of the drive systems to act alone until the absolute value of the current position deviation amount is less than or equal to the preset threshold.

6. The jacking control method for a tower belt machine according to claim 1, characterized in that, The jacking control method further includes: Obtain the actual drive amount and the target drive amount of the two drive systems in real time; Compare the two groups of actual drive amounts and the target drive amounts respectively; In the case that the absolute value of the difference between any group of the actual drive amount and the target drive amount is greater than a preset displacement threshold, determine that a failure occurs in the main drive system or the slave drive system.

7. The jacking control method for the tower belt machine according to claim 1, characterized in that, Both of the two drive systems include hydraulic cylinders and hydraulic driving parts for supplying oil to the hydraulic cylinders. The driving end of the hydraulic cylinder is connected to the belt climbing frame. The jacking control method further includes: Obtain the actual hydraulic oil pressure and the target hydraulic oil pressure of the two hydraulic cylinders in real time; Compare the two groups of actual hydraulic oil pressures and the target hydraulic oil pressures respectively; When the absolute value of the difference between the actual hydraulic oil pressure and the target hydraulic oil pressure in any group is greater than a preset hydraulic oil pressure threshold, it is determined that a failure has occurred in the main drive system or the slave drive system.

8. A jacking control device for a tower belt machine, characterized in that, Comprising: a memory configured to store instructions; a processor configured to call the instructions from the memory and, when executing the instructions, capable of implementing the jacking control method for a tower belt machine according to any one of claims 1 to 7.

9. A tower belt conveyor, characterized in that, Comprising: a tower crane standard section; a belt climbing frame sleeved on the tower crane standard section; two drive systems for respectively driving the lifting of both sides of the belt climbing frame, each drive system including a hydraulic cylinder, an oil pump, and an electro-hydraulic proportional valve provided on the connecting oil path between the hydraulic cylinder and the oil pump; For the jacking control device for a tower belt machine according to claim 8, the processor is electrically connected to the electro-hydraulic proportional valve and is configured to: determine a first driving opening degree of the electro-hydraulic proportional valve of the main drive system according to the jacking operation instruction and control the electro-hydraulic proportional valve to perform a driving operation with the first driving opening degree; acquire in real time the current displacement deviation amount between the two hydraulic cylinders; determine a second driving opening degree of the electro-hydraulic proportional valve of the slave drive system according to the current displacement deviation amount and control the electro-hydraulic proportional valve to perform a driving operation with the second driving opening degree.

10. A machine-readable storage medium, characterized in that, Instructions are stored on the machine-readable storage medium, and the instructions are used to cause the machine to execute the jacking control method for a tower belt machine according to any one of claims 1 to 7.

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