Method and device for controlling extension and retraction of suspension arm and hoisting machine

Abstract

The invention discloses a method and device for controlling extension and retraction of a suspension arm and a hoisting machine. The method comprises the steps that in the process that the hoisting machine executes the on-load telescopic working condition, a target arm frame telescopic combination, a current arm frame telescopic combination, a current suspension arm angle and a current load of the hoisting machine are obtained; according to the target boom telescopic combination and the current boom telescopic combination, the safety limit angle and the safety limit weight of the hoisting machine are determined; judging whether the hoisting machinery meets an angle limiting condition or not according to the current lifting arm angle and the safety limiting angle; judging whether the hoisting machinery meets a weight limiting condition or not according to the current load and the safety limiting weight; and under the condition that the hoisting machine does not meet the angle limiting condition and / or the weight limiting condition, the telescopic action of the hoisting machine is limited. According to the method, corresponding dangerous action limitation can be carried out according to the working condition data of the hoisting machinery in the on-load telescopic process, so that the safety in the on-load telescopic working condition operation process is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a method and device for controlling boom extension and retraction, and a hoisting machine. Background Art

[0002] In fields like construction and equipment installation, hoisting machinery not only needs to extend and retract its boom with no hook, but also often faces complex operating conditions like under load. Currently, existing technologies only have safety control methods for this operating condition, which can only accomplish basic empty-hook extension and retraction. However, there are no corresponding safety control methods for complex operating conditions like under load, making operational safety uncertain during these conditions. Consequently, existing technologies suffer from low safety when performing under-load extension and retraction. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a method, device and lifting machinery for boom extension and retraction control, so as to solve the problem of low safety when performing loaded extension and retraction working conditions existing in the prior art.

[0004] To achieve the above-mentioned objectives, the present application provides, in a first aspect, a method for controlling boom extension and retraction, which is applied to a hoisting machine, wherein the hoisting machine includes a boom, and the boom includes a multi-section boom. The method comprises: During the process of the hoisting machine performing the load-bearing telescopic working condition, obtaining the target boom telescopic combination of the hoisting machine, the current boom telescopic combination, the current boom angle, and the current load, wherein the boom telescopic combination is the combination of the boom lengths of each boom section in the boom; Determine the safety limit angle and safety limit weight of the lifting machinery according to the target boom extension and retraction combination and the current boom extension and retraction combination; Determine whether the hoisting machine meets the angle restriction conditions based on the current boom angle and the safety limit angle; Determine whether the lifting machinery meets the weight limit conditions based on the current load and safety limit weight; When the hoisting machinery does not meet the angle restriction condition and / or the weight restriction condition, the telescopic action of the hoisting machinery is restricted.

[0005] In an embodiment of the present application, the lifting machinery is a single-cylinder latch lifting machinery, and arm pins are provided between each section of the boom. The safety limit weight of the lifting machinery is determined according to the target boom telescopic combination and the current boom telescopic combination, including: obtaining the arm pin status of the arm pin, the arm pin status including a locked state and an active state; based on the pre-built correspondence between the boom telescopic combination and the rated lifting capacity, the safety limit weight is determined according to the arm pin status, the target boom telescopic combination and the current boom telescopic combination.

[0006] In an embodiment of the present application, based on the pre-constructed correspondence between the boom telescopic combination and the rated lifting capacity, the safety limit weight is determined according to the arm pin status, the target boom telescopic combination and the current boom telescopic combination, including: when the arm pin status of the arm pins are all in a locked state, based on the pre-constructed correspondence between the boom telescopic combination and the rated lifting capacity, determining the first rated lifting capacity corresponding to the current boom telescopic combination; and determining the safety limit weight according to the first rated lifting capacity.

[0007] In an embodiment of the present application, based on the pre-constructed correspondence between the boom telescopic combination and the rated lifting capacity, the safety limit weight is determined according to the arm pin status, the target boom telescopic combination and the current boom telescopic combination, including: when the arm pin status of at least one arm pin is active, based on the pre-constructed correspondence between the boom telescopic combination and the rated lifting capacity, determining the first rated lifting capacity corresponding to the current boom telescopic combination and the second rated lifting capacity corresponding to the target boom telescopic combination; determining the safety limit weight according to the smaller value of the first rated lifting capacity and the second rated lifting capacity.

[0008] In an embodiment of the present application, determining the safety limit angle of the lifting machinery based on the target boom telescopic combination and the current boom telescopic combination includes: obtaining the structural parameters of the boom of the lifting machinery at the current moment; based on a preset angle calculation model, determining the safety limit angle according to the structural parameters, the target boom telescopic combination and the current boom telescopic combination.

[0009] In an embodiment of the present application, judging whether the lifting machinery meets the angle restriction condition based on the current boom angle and the safety restriction angle includes: when the current boom angle is less than the safety restriction angle, judging that the lifting machinery does not meet the angle restriction condition; when the current boom angle is greater than or equal to the safety restriction angle, judging that the lifting machinery meets the angle restriction condition.

[0010] In an embodiment of the present application, judging whether the lifting machinery meets the weight limit conditions based on the current load and the safety limit weight includes: determining the current weight percentage based on the current load and the safety limit weight; when the current weight percentage is greater than the preset limit value, judging that the lifting machinery does not meet the weight limit conditions; when the current weight percentage is less than or equal to the preset limit value, judging that the lifting machinery meets the weight limit conditions.

[0011] In an embodiment of the present application, the method also includes: when the loaded telescopic working condition is a winch and rope-arranging working condition, detecting whether the current boom telescopic combination is consistent with the target boom telescopic combination; when the current boom telescopic combination is inconsistent with the target boom telescopic combination, limiting the telescopic action of the lifting machinery and outputting an abnormal prompt of the boom telescopic combination.

[0012] A second aspect of the present application provides a device for controlling boom extension and retraction, comprising: a memory configured to store instructions; The processor is configured to call instructions from the memory and implement the above-mentioned method for boom extension and retraction control when executing the instructions.

[0013] A third aspect of the present application provides a lifting machine, comprising: a boom, the boom comprising a multi-section boom; and the above-mentioned device for controlling the telescopic extension of the boom.

[0014] The above technical solution obtains the target boom telescopic combination, current boom telescopic combination, current boom angle and current load of the hoisting machinery during the process of the hoisting machinery performing the on-load telescopic working condition, wherein the boom telescopic combination is a combination of the boom lengths of each boom section in the boom, and then determines the safety limit angle and safety limit weight of the hoisting machinery based on the target boom telescopic combination and the current boom telescopic combination, and then determines whether the hoisting machinery meets the angle limit condition based on the current boom angle and the safety limit angle, and determines whether the hoisting machinery meets the weight limit condition based on the current load and the safety limit weight, and finally limits the telescopic action of the hoisting machinery when the hoisting machinery does not meet the angle limit condition and / or the weight limit condition. The present application proposes a safety control method for a hoisting machinery performing on-load telescopic working condition, which can limit corresponding dangerous actions based on the working condition data of the hoisting machinery during the on-load telescopic working condition, thereby ensuring the safety during the on-load telescopic working condition operation.

[0015] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings: Figure 1 A flowchart of a method for boom extension and retraction control provided in an embodiment of the present application; Figure 2 A framework diagram of a system for controlling the retraction and extension of a single-cylinder latch hoisting machine with load provided in a specific embodiment of the present application; Figure 3 A flow chart of a control method for a loaded telescopic working condition provided in a specific embodiment of the present application; Figure 4 A flow chart of a method for controlling a winch and rope arrangement operation according to a specific embodiment of the present application is provided; Figure 5 A structural block diagram of a device for boom telescopic control provided in an embodiment of the present application.

[0017] Description of Reference Numerals DETAILED DESCRIPTION

[0018] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0019] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0020] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, 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 number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0021] Figure 1 A flow chart of a method for boom telescopic control provided in an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a method for boom extension and retraction control, which is applied to a hoisting machine. The hoisting machine includes a boom, and the boom includes a multi-section boom. The method may include the following steps.

[0022] Step 101, when the hoisting machinery performs the loaded telescopic working condition, obtain the target boom telescopic combination, current boom telescopic combination, current boom angle and current load of the hoisting machinery, wherein the boom telescopic combination is a combination of the boom lengths of each boom section in the boom.

[0023] Step 102 : determining the safety limit angle and safety limit weight of the hoisting machinery according to the target boom telescopic combination and the current boom telescopic combination.

[0024] Step 103: Determine whether the hoisting machine meets the angle restriction condition based on the current boom angle and the safety restriction angle.

[0025] Step 104: Determine whether the lifting machinery meets the weight restriction condition based on the current load and the safety weight restriction.

[0026] Step 105 : If the hoisting machine does not meet the angle restriction condition and / or the weight restriction condition, restrict the telescopic action of the hoisting machine.

[0027] It can be understood that the boom extension and retraction control method proposed in the application embodiment is intended to ensure the safety of the lifting machinery during load extension and retraction operations. Lifting machinery refers to mechanical equipment that can vertically lift and horizontally move objects, and is widely used in construction, industry, transportation and other fields. Lifting machinery is mainly cranes, including tower cranes, truck cranes and gantry cranes.

[0028] Specifically, when the hoisting machinery performs a loaded telescopic operation, the target boom telescopic combination, current boom telescopic combination, current boom angle, and current load of the hoisting machinery are obtained in real time. Among them, the target boom telescopic combination is the desired state of the length of each boom section; the current boom telescopic combination reflects the actual extension length of each boom section at the moment; the current boom angle refers to the angle between the boom and the horizontal plane; and the current load is the weight of the object carried by the boom. In the embodiment of the present application, a plurality of optional boom telescopic combinations are preset in the system according to actual needs, and the driver can select the target boom telescopic combination from the optional boom telescopic combinations displayed on the display device.

[0029] Next, the crane's safety limit angle and safety limit weight are calculated based on the target boom extension and retraction configuration and the current boom extension and retraction configuration. The safety limit angle is the minimum allowable angle for the crane to extend and retract under load, while the safety limit weight is the maximum weight allowed under this boom configuration. These safety limit angles and safety limit weights vary depending on the boom configuration. For example, a longer boom extension results in a greater safety limit angle and a lower safety limit weight.

[0030] Finally, a dual conditional judgment is performed: the current boom angle and the safety limit angle are used to determine whether the crane meets the angle limit condition. Furthermore, the current load and the safety limit weight are used to determine whether the crane meets the weight limit condition. If the crane does not meet the angle limit condition, the weight limit condition, or both, the system will immediately restrict the crane's extension and retraction movement to prevent serious accidents such as machine overturning and structural damage caused by improper operation.

[0031] The above technical solution obtains the target boom telescopic combination, current boom telescopic combination, current boom angle and current load of the hoisting machinery during the process of the hoisting machinery performing the on-load telescopic working condition, wherein the boom telescopic combination is a combination of the boom lengths of each boom section in the boom, and then determines the safety limit angle and safety limit weight of the hoisting machinery based on the target boom telescopic combination and the current boom telescopic combination, and then determines whether the hoisting machinery meets the angle limit condition based on the current boom angle and the safety limit angle, and determines whether the hoisting machinery meets the weight limit condition based on the current load and the safety limit weight, and finally limits the telescopic action of the hoisting machinery when the hoisting machinery does not meet the angle limit condition and / or the weight limit condition. The present application proposes a safety control method for a hoisting machinery performing on-load telescopic working condition, which can limit corresponding dangerous actions based on the working condition data of the hoisting machinery during the on-load telescopic working condition, thereby ensuring the safety during the on-load telescopic working condition operation.

[0032] In an embodiment of the present application, the lifting machinery is a single-cylinder latch lifting machinery, and arm pins are provided between each section of the boom. Determining the safety limit weight of the lifting machinery according to the target boom telescopic combination and the current boom telescopic combination may include: obtaining the arm pin status of the arm pin, the arm pin status including a locked state and an active state; based on the pre-built correspondence between the boom telescopic combination and the rated lifting capacity, determining the safety limit weight according to the arm pin status, the target boom telescopic combination and the current boom telescopic combination.

[0033] It can be understood that the embodiments of the present application are directed to single-cylinder latch lifting machinery. By combining the arm pin status with the boom extension and retraction combination, the safety limit weight is accurately determined to ensure the safety of the lifting operation. Specifically, the status of the arm pins between the boom sections is obtained in real time. The arm pins exist in two states: locked and active. In the locked state, the arm pins are inserted into the fixing holes, so that the adjacent booms are firmly connected and can reliably carry loads. In the active state, the arm pins are retracted, and the corresponding booms are in a retractable or partially fixed state, and the load-bearing capacity is reduced.

[0034] Furthermore, the safety limit weight is determined based on a pre-built table of correspondences between boom extension and retraction combinations and rated lifting capacities, combined with the boom pin status, the target boom extension and retraction combination, and the current boom extension and retraction combination. This table, established in advance through mechanical calculations and simulation testing, covers rated lifting capacity data for different boom extension and retraction states. For example, when the target is to extend certain boom sections, the boom is currently being extended, and some boom pins are active, the system matches the corresponding parameters in the table to determine the maximum allowable load at that time, i.e., the safety limit weight.

[0035] In this way, by incorporating the arm pin status into the process of determining the safety limit weight, the dynamic changes in the structural connection of the single-cylinder latch lifting machinery during the arm extension and retraction process are fully considered. Compared with traditional fixed standards, it can more accurately ensure the safety of lifting operations, avoid accidents caused by excessive load, and at the same time improve the efficiency and reliability of mechanical operations.

[0036] In an embodiment of the present application, based on the correspondence between the pre-constructed boom telescopic combination and the rated lifting capacity, the safety limit weight is determined according to the arm pin status, the target boom telescopic combination and the current boom telescopic combination, which may include: when the arm pin status of the arm pins are all in a locked state, based on the correspondence between the pre-constructed boom telescopic combination and the rated lifting capacity, determining the first rated lifting capacity corresponding to the current boom telescopic combination; and determining the safety limit weight according to the first rated lifting capacity.

[0037] It can be understood that the embodiment of the present application is mainly aimed at single-cylinder latch lifting machinery, and determines the safety limit weight of the lifting machinery at the current moment. Specifically, when the arm pins between the boom sections of the boom are in a locked state, it means that the entire boom structure is rigidly connected and has strong stability, and can be calculated according to the standard load-bearing capacity. At this time, the system matches the combination composed of the actual extension lengths of the current boom sections with the correspondence table based on the pre-constructed boom telescopic combination and rated lifting weight correspondence table, and directly obtains the first rated lifting weight corresponding to the combination, that is, theoretically the maximum weight that the lifting machinery is allowed to carry in the current boom telescopic combination state. Furthermore, after obtaining the first rated lifting weight, it can be directly determined as the safety limit weight.

[0038] In this way, based on the structural stability when the arm pins are fully locked, the rated lifting capacity is used as a safety upper limit, providing a clear weight standard for lifting operations. When the lifting machinery's load exceeds this limit, the system can promptly issue an alert or restrict operation, preventing mechanical damage or safety accidents caused by overload, ensuring that lifting operations are carried out within a safe and reliable range, while also simplifying the calculation process and improving control efficiency.

[0039] In an embodiment of the present application, based on the pre-constructed correspondence between the boom telescopic combination and the rated lifting capacity, the safety limit weight is determined according to the arm pin status, the target boom telescopic combination and the current boom telescopic combination, which may include: when the arm pin status of at least one arm pin is active, based on the pre-constructed correspondence between the boom telescopic combination and the rated lifting capacity, determining the first rated lifting capacity corresponding to the current boom telescopic combination and the second rated lifting capacity corresponding to the target boom telescopic combination; determining the safety limit weight according to the smaller value of the first rated lifting capacity and the second rated lifting capacity.

[0040] It will be appreciated that the embodiments of the present application primarily target single-cylinder latch hoisting machinery and determine the safe weight limit of the hoisting machinery at the current moment. Specifically, when at least one arm pin in the boom is active (i.e., not fully locked), the rigid connection of the boom structure is weakened, and the load-bearing capacity is reduced. At this point, the system must simultaneously reference the rated lifting weights of the current boom telescopic assembly and the target boom telescopic assembly, and match the first rated lifting weight corresponding to the current boom telescopic assembly with the second rated lifting weight corresponding to the target boom telescopic assembly from a pre-built table of correspondences between boom telescopic assemblies and rated lifting weights.

[0041] Furthermore, because the movable arm pin may cause the load-bearing capacity of the structure to fluctuate during the extension and retraction process, in order to avoid the risk of overload due to the lower load-bearing capacity in the target state, the smaller value of the first rated lifting capacity and the second rated lifting capacity is taken as the safety limit weight under the current working conditions in the embodiment of the present application.

[0042] This fully accounts for the uncertainty of structural stability during boom pin movement, providing greater safety than a single rated capacity. For example, when the target boom assembly's rated capacity is lower than the current capacity, the lower capacity is used as the limit. This prevents overturning or structural damage caused by excessive load during telescoping operations, providing a dynamic and reliable safety margin for loaded telescoping operations.

[0043] In an embodiment of the present application, determining the safety limit angle of the lifting machinery based on the target boom telescopic combination and the current boom telescopic combination may include: obtaining the structural parameters of the boom of the lifting machinery at the current moment; based on a preset angle calculation model, determining the safety limit angle according to the structural parameters, the target boom telescopic combination and the current boom telescopic combination.

[0044] It can be understood that the safety limit angle is the minimum allowable amplitude variation angle for the hoisting machine's under-load telescopic operation. Specifically, the structural parameters of the hoisting machine's boom are acquired in real time. These parameters may include, but are not limited to, geometric information such as the length, cross-sectional dimensions, and material properties of each boom section, as well as physical parameters such as the boom's center of gravity and moment of inertia. This provides a data foundation for subsequent calculation of the safety limit angle.

[0045] Furthermore, calculations are performed based on a pre-defined angle calculation model, combining the collected structural parameters, the target boom extension and retraction combination, and the current boom extension and retraction combination. The angle calculation model comprehensively considers mechanical factors such as mechanical stability torque, load force, and equivalent boom length. This, combined with the crane's structural parameters, determines a safe limit angle, effectively preventing accidents caused by improper angle adjustments during load extension and retraction, improving operational safety and reliability.

[0046] In an embodiment of the present application, judging whether the lifting machinery meets the angle restriction condition based on the current boom angle and the safety restriction angle may include: when the current boom angle is less than the safety restriction angle, judging that the lifting machinery does not meet the angle restriction condition; when the current boom angle is greater than or equal to the safety restriction angle, judging that the lifting machinery meets the angle restriction condition.

[0047] Specifically, if the current boom angle is less than the safety limit angle, the lifting machinery is judged to not meet the angle limit conditions and there is a risk of overturning. At this time, the system will take restrictive measures, automatically limiting the extension speed of the telescopic cylinder (such as reducing it to 50% of the original speed), or triggering the luffing oil replenishment to forcibly raise the boom angle, or suspending the boom extension movement, or issuing an alarm to prompt the operator to operate the lifting machinery to perform luffing to adjust the current boom angle until the current boom angle reaches the preset safety limit angle, thereby avoiding accidents. Conversely, if the current boom angle is greater than or equal to the safety limit angle, it indicates that the boom is within the safe tilt range, and the lifting machinery is judged to meet the angle limit conditions and can continue normal operation. In this way, it can effectively reduce the safety hazards caused by angle loss control.

[0048] In an embodiment of the present application, judging whether the lifting machinery meets the weight limit conditions based on the current load and the safety limit weight may include: determining the current weight percentage based on the current load and the safety limit weight; when the current weight percentage is greater than the preset limit value, judging that the lifting machinery does not meet the weight limit conditions; when the current weight percentage is less than or equal to the preset limit value, judging that the lifting machinery meets the weight limit conditions.

[0049] Specifically, the system obtains the current load in real time, that is, the actual weight carried by the boom, and then calculates the current weight percentage of the current load and the safety limit weight. This percentage reflects the relative relationship between the actual load and the safety threshold. Next, the calculated percentage is compared with the preset limit value, which can be adjusted according to the actual situation and the risk level of the operation. In one example, if the current weight percentage is greater than the preset limit value, it means that the actual load has approached or exceeded the safety range, and the lifting machinery is judged to not meet the weight limit conditions. The system will trigger restriction measures (such as prohibiting boom extension and retraction, sound and light alarms) to avoid structural damage or overturning caused by overload. In another example, if the current weight percentage is less than or equal to the preset limit value, it means that the load is within the safety threshold, and the lifting machinery is judged to meet the weight limit conditions, and normal lifting operations are allowed.

[0050] This weight percentage judgment method provides greater flexibility than directly comparing numerical values. For example, when the safety limit weight is 50 tons, the current load is 70 tons, corresponding to a percentage of 140%. If the preset limit value is 120%, the weight limit is determined to be not met. However, when the safety limit weight is adjusted to 60 tons, the same 70-ton load has a corresponding percentage of approximately 117%. If the preset limit value is 120%, the weight limit is determined to be met. By comparing dynamic percentages with fixed thresholds, the system can adapt to load safety assessments under different boom states, ensuring operational safety while avoiding confusion in judgment logic caused by dynamic changes in the safety limit weight.

[0051] In an embodiment of the present application, the method may further include: when the load-bearing telescopic working condition is a winch and rope-arranging working condition, detecting whether the current boom telescopic combination is consistent with the target boom telescopic combination; when the current boom telescopic combination is inconsistent with the target boom telescopic combination, limiting the telescopic action of the lifting machinery, and outputting an abnormal prompt of the boom telescopic combination.

[0052] It can be understood that the winch and rope arrangement working condition is also a type of loaded telescopic working condition. When the hoisting machinery performs loaded telescopic operations and is in the winch and rope arrangement working condition, that is, the wire rope arrangement is adjusted by the winch to ensure that the ropes are arranged neatly, in addition to executing the judgment of the weight limit conditions and angle limit conditions in the above-mentioned embodiment, the system will also compare the current boom telescopic combination with the target boom telescopic combination in real time. Among them, the boom telescopic combination is a combination of the extension lengths of each boom section, reflecting the actual shape and target shape of the boom. In the embodiment of the present application, taking into account the particularity of the winch and rope arrangement working condition, the optional boom telescopic combination corresponding to the winch and rope arrangement working condition includes the longest allowed boom combination and the basic boom working condition combination.

[0053] Specifically, if the current boom extension and retraction combination is detected to be inconsistent with the target combination, the boom extension and retraction state is determined to be abnormal. The system immediately restricts boom extension and retraction to prevent winch rope misalignment (such as rope stacking and skipping) caused by boom shape deviation, which could lead to problems such as rope wear and winch failure. The system also displays an abnormality notification, such as a pop-up window on the display or an audible and visual alarm, to alert the operator to investigate the cause.

[0054] In this way, through precise comparison of the combined status, in the working condition of winch rope arrangement, which requires precise coordination of the boom shape, the extension and contraction abnormalities caused by human misoperation or mechanical failure are avoided, and the stability of the rope arrangement system is guaranteed.

[0055] Figure 2 This is a framework diagram of a system for controlling the retraction and extension of a single-cylinder latch hoisting machine under load, provided in a specific embodiment of the present application. The system includes an input mechanism 1, a host computer 2, a host PLC controller 3, a hydraulic valve 4, and a sensor 5.

[0056] Specifically, the input mechanism 1 is the input signal acquisition module of the entire system, which includes an operating handle, an operating panel, a remote control, etc., and is used to transmit external signals to the host PLC controller in the form of a bus.

[0057] The host PLC controller 3 is the core processing module of the entire system, which is used to integrate and process input instructions and perform action logic processing.

[0058] The hydraulic valve 4 is the actuator of the entire system, responsible for converting the electrical signal of the host PLC controller 3 into signals such as the on / off and opening ratio of the hydraulic valve 4.

[0059] Sensor 5 is the system's signal acquisition mechanism, primarily consisting of an angle sensor, proximity switch, displacement sensor, and pressure sensor. The angle sensor measures the boom angle, the proximity switch detects the telescopic mechanism's cylinder and arm pin insertion and removal status, the displacement sensor detects the telescopic cylinder's extension and retraction length, and the pressure sensor measures the luffing cylinder's pressure.

[0060] It can be understood that the embodiment of the present application adds the loaded telescopic working condition and the winch and rope-laying working condition without affecting the original empty hook telescopic working condition of the lifting machinery. That is, the telescopic working condition of the lifting machinery in the embodiment of the present application includes the empty hook telescopic working condition, the loaded telescopic working condition and the winch and rope-laying working condition. Figure 3 This is a flow chart of a control method for a loaded telescopic working condition provided in a specific embodiment of the present application. Figure 3 As shown, the control method of the loaded telescopic working condition includes the following steps.

[0061] Step 11: The operator selects the load-retracting working condition and proceeds to step 12.

[0062] Step 12: The controller provides relevant telescopic combinations according to the selected working conditions and proceeds to step 13.

[0063] Step 13: The controller gives the required telescopic angle (i.e., the safety limit angle) based on the selected telescopic combination (i.e., the target boom telescopic combination in the above embodiment) and the current boom telescopic combination, and prompts it on the host computer, and then enters step 14.

[0064] Step 14: If the boom angle (i.e., the current boom angle) is less than the telescopic angle, then proceed to step 15; otherwise, proceed to step 16.

[0065] Step 15: Restrict the telescopic action. The operator can only move by luffing to increase the boom angle to meet the requirements and proceed to step 14.

[0066] Step 16: Check whether the arm pin is in a locked state. If so, proceed to step 17; otherwise, proceed to step 18.

[0067] Step 17: The rated lifting capacity is looked up in a table according to the current boom extension combination, and the process goes to step 111.

[0068] Step 18: Determine the position n of the arm code and proceed to step 19.

[0069] Step 19: If the arm code is normal (the arm code is not 0, and 1 corresponds to the maximum number of telescopic arm sections), go to step 110; otherwise, go to step 113.

[0070] Step 110: The rated lifting capacity is based on the current boom telescopic combination for the non-current telescopic boom section and the larger value of the current boom telescopic combination and the target combination. This combination is matched to the table and the process goes to step 111.

[0071] Step 111 : Check whether the weight percentage exceeds the allowable limit value. If not, proceed to step 112 . If yes, proceed to step 114 .

[0072] Step 112: The scaling is normal, with no restriction instructions.

[0073] Step 113: The rated lifting capacity is looked up in a table according to the current boom extension combination, and the process goes to step 114.

[0074] Step 114: The telescopic movement is restricted.

[0075] Figure 4 This is a flow chart of a method for controlling a winch and rope arrangement working condition provided in a specific embodiment of the present application. Figure 4 As shown, the control method of the winch rope arrangement working condition includes the following steps.

[0076] Step 21: The operator selects the rope arrangement mode and proceeds to step 22.

[0077] Step 22: The controller provides relevant telescopic combinations based on the selected working condition (this working condition only has one rope arrangement working condition that allows the longest boom combination and one basic boom working condition combination). The operator selects the corresponding combination and proceeds to step 23.

[0078] Step 23: The controller gives the required telescopic angle (i.e., the safety limit angle) based on the selected telescopic combination (i.e., the target boom telescopic combination in the above embodiment) and the current boom telescopic combination, and prompts it on the host computer, and then enters step 24.

[0079] Step 24: If the boom angle is less than the telescopic angle, then go to step 25; otherwise, go to step 26.

[0080] Step 25: Restrict the telescopic action. The operator can only move by luffing to increase the boom angle to meet the requirements and go to step 24.

[0081] Step 26: Assign initial values ​​i=m, a=1, b=1, where m is the maximum number of telescopic boom sections, i is the current calculated boom section, a=1 represents the longest boom combination allowed by the rope-laying working condition provided for the force limiter, a=0 represents the path combination of the rope-laying working condition provided for the force limiter, b=1 represents that the telescopic combination is normal, b=0 represents that the telescopic combination is abnormal, and proceed to step 27.

[0082] Step 27: Determine whether the variable a is 1, if so, proceed to step 28, otherwise proceed to step 210.

[0083] Step 28: Determine whether the current boom extension combination current[i] is consistent with the rope arrangement working condition target combination array[i]. If so, proceed to step 29; otherwise, proceed to step 210.

[0084] Step 29: Data calculation and processing i=i-1, go to step 213.

[0085] Step 210: Determine whether the current boom extension combination current[i] is 1, if so, proceed to step 211, otherwise proceed to step 12.

[0086] Step 211: Data calculation and processing i=i-1, a=0; proceed to step 213.

[0087] Step 212: Data calculation and processing i=0, a=0, b=0; proceed to step 213.

[0088] Step 213: Determine whether all telescopic arms have completed the judgment i=0, if yes, go to step 214, otherwise go to step 7.

[0089] Step 214: Determine whether the scaling error variable b is 0. If so, proceed to step 215; otherwise, proceed to step 16.

[0090] Step 215: Prompt illegal combination and go to step 217.

[0091] Step 216: Determine whether the weight exceeds the allowed threshold (i.e., the safety limit weight). If so, proceed to step 217; otherwise, proceed to step 218.

[0092] Step 217: Limit the telescopic action and proceed to step 219.

[0093] Step 218: The telescopic action is normal and unrestricted, and the process goes to step 219.

[0094] Step 219: End the process.

[0095] Thus, in the specific embodiment of the present application, the telescopic working conditions of the single-cylinder latch lifting machinery are expanded and divided into empty hook telescopic working conditions, loaded telescopic working conditions and winch rope arrangement working conditions, and safety restrictions are imposed on the selection of the lifting weight table and the telescopic action function of the relevant working conditions. The working condition data collected by each sensor is used for logical judgment by the controller to make corresponding dangerous action restrictions to ensure the safety and controllability of various telescopic working conditions.

[0096] Figure 5 This is a structural block diagram of a device for boom telescopic control provided in an embodiment of the present application. Figure 5 As shown, an embodiment of the present application provides a device for boom extension and retraction control, which may include: Memory 510, configured to store instructions; The processor 520 is configured to call instructions from the memory 510 and implement the method for boom extension and retraction control in the above embodiment when executing the instructions.

[0097] The present application also provides a lifting machine, comprising: a boom, the boom comprising a multi-section boom; and the device for controlling the telescopic extension of the boom in the above embodiment.

[0098] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0099] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0100] These computer program instructions may 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, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0102] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0103] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0104] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can be implemented using any method or technology for information storage. 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 RAM (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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (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 transitory computer-readable media, such as modulated data signals and carrier waves.

[0105] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0106] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for boom extension and retraction control, characterized in that: Applied to a hoisting machine, the hoisting machine includes a boom, and the boom includes a multi-section boom. The method includes: During the process of the hoisting machine performing the loaded telescopic working condition, obtaining the target boom telescopic combination, current boom telescopic combination, current boom angle, and current load of the hoisting machine, wherein the boom telescopic combination is a combination of boom lengths of each boom section in the boom; Determining a safety limit angle and a safety limit weight of the hoisting machinery according to the target boom telescopic combination and the current boom telescopic combination; Determining whether the hoisting machine meets the angle restriction condition according to the current boom angle and the safety limit angle; Determining whether the hoisting machine meets the weight limit condition according to the current load and the safety limit weight; When the hoisting machine does not satisfy the angle restriction condition and / or the weight restriction condition, the telescopic action of the hoisting machine is restricted.

2. The method according to claim 1, characterized in that The hoisting machine is a single-cylinder latch hoisting machine, and arm pins are provided between each boom section of the boom. Determining the safety limit weight of the hoisting machine based on the target boom telescopic combination and the current boom telescopic combination includes: Acquiring an arm pin state of the arm pin, wherein the arm pin state includes a locked state and an active state; Based on a pre-established correspondence between the boom telescopic combination and the rated lifting capacity, the safety limit weight is determined according to the arm pin state, the target boom telescopic combination and the current boom telescopic combination.

3. The method according to claim 2, characterized in that The determining of the safety limit weight based on the pre-established correspondence between the boom telescopic combination and the rated lifting capacity according to the arm pin state, the target boom telescopic combination, and the current boom telescopic combination includes: When the arm pins are all in the locked state, determining a first rated lifting capacity corresponding to the current telescopic boom assembly based on a pre-established correspondence between the telescopic boom assembly and the rated lifting capacity; The safety limit weight is determined according to the first rated lifting capacity.

4. The method according to claim 2, characterized in that The determining of the safety limit weight based on the pre-established correspondence between the boom telescopic combination and the rated lifting capacity according to the arm pin state, the target boom telescopic combination, and the current boom telescopic combination includes: When the arm pin state of at least one arm pin is active, determining a first rated lifting capacity corresponding to the current telescopic boom assembly and a second rated lifting capacity corresponding to the target telescopic boom assembly based on a pre-established correspondence between the telescopic boom assembly and the rated lifting capacity; The safety limit weight is determined according to the smaller value of the first rated lifting capacity and the second rated lifting capacity.

5. The method according to claim 1, wherein Determining the safety limit angle of the hoisting machinery according to the target boom telescopic combination and the current boom telescopic combination includes: Obtaining structural parameters of the boom of the hoisting machine at the current moment; Based on a preset angle calculation model, the safety limit angle is determined according to the structural parameters, the target boom telescopic combination and the current boom telescopic combination.

6. The method according to claim 1, characterized in that The determining whether the hoisting machine satisfies the angle restriction condition according to the current boom angle and the safety restriction angle includes: If the current boom angle is less than the safety limit angle, determining that the hoisting machine does not meet the angle limit condition; When the current boom angle is greater than or equal to the safety limit angle, it is determined that the hoisting machine meets the angle limit condition.

7. The method according to claim 1, characterized in that The determining whether the hoisting machine meets the weight limit condition according to the current load and the safety limit weight includes: determining a current weight percentage according to the current load and the safety limit weight; If the current weight percentage is greater than a preset limit value, determining that the hoisting machine does not meet the weight restriction condition; When the current weight percentage is less than or equal to the preset limit value, it is determined that the hoisting machine meets the weight restriction condition.

8. The method according to claim 1, characterized in that The method further comprises: When the loaded telescopic working condition is a winch and rope arrangement working condition, detecting whether the current boom telescopic combination is consistent with the target boom telescopic combination; When the current boom telescopic combination is inconsistent with the target boom telescopic combination, the telescopic action of the hoisting machinery is restricted, and an abnormal prompt of the boom telescopic combination is output.

9. A device for controlling boom extension and retraction, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the method for boom extension and retraction control according to any one of claims 1 to 8 when executing the instructions.

10. A lifting machine, characterized in that: include: A boom, the boom comprising a multi-section boom; The device for boom extension and retraction control according to claim 9.

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