Safety control method and device of tower belt conveyor, tower belt conveyor and medium

Abstract

The invention relates to the technical field of tower belt conveyors, and provides a safety control method and device of a tower belt conveyor, the tower belt conveyor and a medium, the tower belt conveyor comprises an inner belt and an outer belt, and the method comprises the steps that in a boom plane, a first dip angle between the inner belt and the horizontal direction and a second dip angle between the outer belt and the horizontal direction are obtained; based on the target dip angle and the dip angle preset interval, controlling operation of the first target element, so that the target dip angle is located in the dip angle preset interval and comprises the first dip angle and the second dip angle; in the horizontal plane, a first included angle between the inner belt and the horizontal direction and a second included angle between the outer belt and the horizontal direction are obtained; and based on the target included angle and the included angle preset interval, controlling operation of the second target element, so that the target included angle is located in the included angle preset interval and comprises the first included angle and the second included angle. According to the embodiment of the invention, the target inclination angle and the target included angle are limited within the angle range of safe operation of the tower belt crane, so that the operation safety of the tower belt crane is improved.

Description

Technical Field

[0001] This application relates to the field of tower belt conveyor technology, specifically to a safety control method, device, tower belt conveyor, and medium for a tower belt conveyor. Background Technology

[0002] A tower crane belt conveyor is an engineering machine that combines a tower crane with a belt conveyor for concrete pouring. The belt conveyor includes a feed belt, a transfer belt, an inner belt, and an outer belt. The feed belt transports concrete from the front feed line to the transfer belt, which then delivers the concrete to the inner belt. The inner belt then transports the concrete to the outer belt, which in turn delivers it to the placing hopper. The feed belt and transfer belt are fixed in place, while the inner and outer belts can move relative to each other, enabling efficient and continuous concrete transport and ensuring uninterrupted concrete pouring operations.

[0003] In existing technology, mechanical limit switches are used only in the boom plane to limit the relative movement between the inner and outer belts. However, during the relative movement between the inner and outer belts, the contacts of the limit switches may become loose. After repeated contact, the internal contact state of the limit switches may change. The contacts of the limit switches are prone to failure due to long-term wear, which may prevent the tower conveyor belt from stopping in time and cause safety risks. Summary of the Invention

[0004] The purpose of this application is to provide a safety control method, device, tower conveyor, and medium for tower conveyors, so as to reduce the operational risks of tower conveyors caused by loose limit switches, internal aging, and wear in the prior art.

[0005] To achieve the above objectives, the first aspect of this application provides an angle limiting method for a tower belt conveyor, the tower belt conveyor including an inner belt and an outer belt, the method comprising: Within the boom plane, obtain the first tilt angle between the inner belt and the horizontal direction and the second tilt angle between the outer belt and the horizontal direction; Based on the target tilt angle and the preset tilt angle range, the operation of the first target element is controlled so that the target tilt angle is within the preset tilt angle range, wherein the target tilt angle includes a first tilt angle and a second tilt angle; In the horizontal plane, obtain the first angle between the inner belt and the horizontal direction and the second angle between the outer belt and the horizontal direction; Based on the target angle and the preset angle range, the operation of the second target element is controlled so that the target angle is within the preset angle range, wherein the target angle includes a first angle and a second angle.

[0006] In this embodiment of the application, the first target element includes a winch, and the tilt angle preset range includes a first tilt angle preset range. Controlling the operation of the first target element based on the target tilt angle and the tilt angle preset range includes: When the first tilt angle is greater than the maximum preset deceleration tilt angle within the preset range of the first tilt angle, control the winch to wind up the rope at the speed of the winch operation preset gear. When the first tilt angle is greater than the maximum preset stop tilt angle within the preset range of the first tilt angle, the winch is prohibited from winding the rope. Wherein, the maximum preset stop tilt angle is greater than the maximum preset deceleration tilt angle. When the first tilt angle is less than the minimum preset deceleration tilt angle within the preset range of the first tilt angle, the winch is controlled to release the rope at the speed of the winch operation preset gear. When the first tilt angle is less than the minimum preset stop tilt angle within the preset range of the first tilt angle, the winch is prohibited from releasing the rope, wherein the minimum preset stop tilt angle is less than the minimum preset deceleration tilt angle.

[0007] In this embodiment of the application, the first target element includes a hook, the preset tilt angle range includes a second preset tilt angle range, the second preset tilt angle range includes a first preset tilt angle range, and the operation of the first target element is controlled based on the target tilt angle and the preset tilt angle range, including: When the second inclination angle is greater than the maximum preset deceleration inclination angle within the preset range of the second inclination angle, the winch is controlled to release the rope at the speed of the winch operation preset gear and the hook moves upward at the speed of the lifting operation preset gear; When the second tilt angle is greater than the maximum preset stop tilt angle within the preset range of the second tilt angle, the winch is prohibited from releasing the rope and the hook from moving upward. The maximum preset stop tilt angle is greater than the maximum preset deceleration tilt angle. When the second inclination angle is less than the minimum preset deceleration inclination angle within the preset range of the second inclination angle, the winch is controlled to wind up the rope at the speed of the winch operation preset gear and the hook moves downward at the speed of the lifting operation preset gear; When the second tilt angle is less than the minimum preset stop tilt angle within the preset range of the second tilt angle, the winch is prohibited from winding the rope and the hook from moving downwards. The minimum preset stop tilt angle is less than the minimum preset deceleration tilt angle.

[0008] In this embodiment, the second target element includes a slewing mechanism and a luffing mechanism, and the included angle preset range includes a first included angle preset range. Based on the target included angle and the included angle preset range, controlling the operation of the second target element includes: When the first included angle is greater than the maximum preset deceleration included angle within the preset range of the first included angle, the slewing mechanism is controlled to run in the first preset direction at the preset slewing gear and the luffing mechanism is controlled to run in the second preset direction at the preset luffing gear. When the first included angle is greater than the maximum preset stop included angle within the preset range of the first included angle, the slewing mechanism is prohibited from running in the first preset direction and the luffing mechanism is prohibited from running in the second preset direction; When the first included angle is greater than the minimum preset deceleration included angle of the first included angle preset range, the slewing mechanism is controlled to run in the third preset direction at the slewing running preset gear and the luffing mechanism is controlled to run in the second preset direction at the luffing running preset gear; When the first included angle is greater than the minimum preset stop angle within the preset range of the first included angle, the slewing mechanism is prohibited from running in the third preset direction and the luffing mechanism is prohibited from running in the second preset direction.

[0009] In this embodiment of the application, the included angle preset range includes a second included angle preset range, and the second included angle preset range includes a first included angle preset range. Based on the target included angle and the included angle preset range, controlling the operation of the second target element includes: When the second included angle is greater than the maximum preset deceleration included angle within the preset range of the second included angle, the slewing mechanism is controlled to run in the first preset direction at the preset slewing gear and the luffing mechanism is controlled to run in the second preset direction at the preset luffing gear. When the second included angle is greater than the maximum preset stop included angle within the preset range of the second included angle, the slewing mechanism is prohibited from running in the first preset direction and the luffing mechanism is prohibited from running in the second preset direction; When the second included angle is greater than the minimum preset deceleration included angle within the preset range of the second included angle, the slewing mechanism is controlled to run in the third preset direction at the preset slewing gear and the luffing mechanism is controlled to run in the second preset direction at the preset luffing gear. When the second included angle is greater than the minimum preset stop included angle within the preset range of the second included angle, the slewing mechanism is prohibited from running in the third preset direction and the luffing mechanism is prohibited from running in the second preset direction.

[0010] In this embodiment of the application, the preset gear for slewing operation is the lowest speed gear for slewing operation, and the preset gear for luffing operation is the lowest speed gear for luffing operation.

[0011] In this embodiment of the application, the tower belt conveyor includes a display screen, a buzzer, and an electric horn; the method further includes: If the target tilt angle is not within the preset tilt angle range and / or the target included angle is not within the preset included angle range, at least one of the control display screen, buzzer, and electric horn shall sound an alarm.

[0012] A second aspect of this application also provides a safety control device for a tower conveyor belt, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the safety control method for the conveyor belt machine provided in the first aspect above.

[0013] A third aspect of this application also provides a tower belt conveyor, comprising: The first tilt sensor is installed on the inner belt and is used to detect the first tilt angle between the inner belt and the horizontal direction in the boom plane; The second tilt sensor is installed on the outer belt and is used to detect the second tilt angle between the outer belt and the horizontal direction in the boom plane; The first included angle encoder is installed on the inner belt and is used to detect the first included angle between the inner belt and the horizontal direction in the horizontal plane; The second included angle encoder is installed on the outer belt and is used to detect the second included angle between the outer belt and the horizontal direction in the horizontal plane; The safety control device for the tower conveyor provided in the second aspect above.

[0014] A fourth aspect of this application also provides a machine-readable storage medium storing instructions for causing a machine to perform a safety control method for a tower conveyor according to the first aspect above.

[0015] The above technical solution, within the boom plane, obtains the first tilt angle between the inner belt and the horizontal direction and the second tilt angle between the outer belt and the horizontal direction. Based on the first tilt angle, the second tilt angle, and a preset tilt angle range, the operation of the first target element is controlled so that the first tilt angle and the second tilt angle are within the preset tilt angle range. Within the horizontal plane, obtains the first included angle between the inner belt and the horizontal direction and the second included angle between the outer belt and the horizontal direction. Based on the first included angle, the second included angle, and a preset included angle range, the operation of the second target element is controlled so that the target included angle is within the preset included angle range. This limits the first tilt angle, the second tilt angle, the first included angle, and the second included angle to the safe operating angle range of the tower belt conveyor, reducing the operating risks of the tower belt conveyor caused by loose limit switches, internal aging, and wear in the prior art, thereby improving the operating safety of the tower belt conveyor.

[0016] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 This schematically illustrates a structural diagram of a tower belt conveyor in the boom plane according to an embodiment of this application; Figure 2 The schematic diagram illustrates the structure of the limit switch and the baffle according to an embodiment of this application; Figure 3 The schematic diagram illustrates a flow chart of a safety control method for a tower conveyor according to an embodiment of this application; Figure 4The schematic diagram illustrates the structure of the tower conveyor in the horizontal plane according to an embodiment of this application.

[0018] Explanation of reference numerals in the attached figures Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0020] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0021] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0023] To better illustrate the safety control method for the tower conveyor provided in the embodiments of the present invention, a brief description of the prior art is given. Figure 1 The schematic diagram illustrates the structure of the tower belt conveyor in the boom plane according to an embodiment of this application, as shown below. Figure 1As shown, the tower belt conveyor includes an outer belt 11, an inner belt 13, a hook wire rope 15, a hook 16, and a winch ( Figure 1 The structure includes (not shown in the diagram), winch wire rope 17, tower body 18, boom 19, and trolley 20. Trolley 20 is mounted on boom 19 and runs along boom 19. Trolley 20 is connected to hook wire rope 15, with hook 16 at the end of hook wire rope 15. Hook 16 is connected to outer belt 11 and used to pull outer belt 11. One end of outer belt 11 is connected to inner belt 13, which is connected to winch wire rope 17. Winch wire rope 17 is used to pull inner belt 13. Winch wire rope 17 moves upwards or downwards via winch to pull inner belt 13. Winch is mounted on tower body 18 and runs along tower body 18. During lifting operations or winch operation, outer belt 11 and inner belt 13 experience relative movement in the vertical direction of the boom plane. The lifting operation includes the simultaneous upward or downward lifting of the hook wire rope 15 and the hook 16, and the winch operation includes the winch winding up or unwinding the winch wire rope 17.

[0024] Figure 2 The schematic diagram illustrates the structure of the limit switch and the baffle according to an embodiment of this application, as follows: Figure 2 As shown, the limit switch 10 is located on the outer belt 11. The limit switch 10 includes a contact 12 at the upper end, and a baffle 14 is provided on the top of the contact 12. The baffle 14 is located on the inner belt 13. When the relative position of the outer belt 11 and the inner belt 13 changes, the contact 12 will come into contact with the baffle 14. After contact, the internal contact state of the limit switch changes, and the tower conveyor belt stops running in response to the change in contact state. The contact 12 of the limit switch is prone to failure due to long-term wear with the baffle 14, which may cause the tower conveyor belt to fail to stop in time, resulting in a safety risk.

[0025] Based on the aforementioned technical deficiencies, this application provides a safety control method for a tower belt conveyor, such as... Figure 3 As shown, Figure 3 The schematic diagram illustrates a safety control method for a tower belt conveyor according to an embodiment of this application. This application provides a safety control method for a tower belt conveyor, which includes an inner belt and an outer belt. The method may include the following steps: Step S110: Within the boom plane, obtain the first tilt angle between the inner belt and the horizontal direction and the second tilt angle between the outer belt and the horizontal direction; Step S120: Based on the target tilt angle and the preset tilt angle range, control the operation of the first target element so that the target tilt angle is within the preset tilt angle range, wherein the target tilt angle includes a first tilt angle and a second tilt angle; Step S130: In the horizontal plane, obtain the first angle between the inner belt and the horizontal direction and the second angle between the outer belt and the horizontal direction; Step S140: Based on the target angle and the preset angle range, control the operation of the second target element so that the target angle is within the preset angle range, wherein the target angle includes a first angle and a second angle.

[0026] In step S110, as Figure 1 As shown, Figure 1 The viewpoint is the boom plane, and the first tilt angle represents the angle between the inner belt 13 and the horizontal plane. The second tilt angle represents the angle between the outer belt 13 and the horizontal plane. Among them, with the horizontal plane (blue dashed line) as the baseline, when the inner belt 13 runs clockwise around the baseline, the first tilt angle is... The value is negative; when the inner belt 13 is running counterclockwise around the baseline, the first tilt angle is... It is a positive value. When the outer belt 11 runs counterclockwise around the reference line, the second tilt angle is... It is a positive value; when the outer belt 11 runs clockwise around the reference line, the second tilt angle is... It is a negative value.

[0027] In step S120, the operation of the first target element is controlled according to the target tilt angle and the preset tilt angle range, so as to limit the first tilt angle and the second tilt angle to within the preset tilt angle range in which the tower conveyor can operate safely.

[0028] In step S130, Figure 4 A schematic diagram of the tower belt conveyor in a horizontal plane according to an embodiment of this application is shown, as follows. Figure 4 As shown, Figure 4 The perspective is the horizontal plane, and the first included angle represents the angle between the inner belt 13 and the horizontal baseline. The second included angle represents the angle between the outer belt 11 and the horizontal baseline. When the inner belt 13 rotates counterclockwise around the horizontal baseline, the first included angle... It is a positive value; when the inner belt 13 runs clockwise around the horizontal baseline, the first included angle is... The value is negative. When the outer belt 11 runs counterclockwise around the horizontal baseline, the second included angle is... It is a positive value; when the outer belt 11 runs clockwise around the horizontal baseline, the second included angle is... It is a negative value.

[0029] In step S140, the operation of the first target element is controlled according to the target angle and the preset angle range, so as to limit the first angle and the second angle to the preset angle range within which the tower belt conveyor can operate safely.

[0030] In this embodiment, within the boom plane, a first tilt angle between the inner belt and the horizontal direction and a second tilt angle between the outer belt and the horizontal direction are obtained. Based on the first tilt angle, the second tilt angle, and a preset tilt angle range, the operation of the first target element is controlled so that the first tilt angle and the second tilt angle are within the preset tilt angle range. Within the horizontal plane, a first included angle between the inner belt and the horizontal direction and a second included angle between the outer belt and the horizontal direction are obtained. Based on the first included angle, the second included angle, and a preset included angle range, the operation of the second target element is controlled so that the included angle is within the preset included angle range. This limits the first tilt angle, the second tilt angle, the first included angle, and the second included angle to the safe operating angle range of the tower belt conveyor, effectively avoiding safety accidents caused by abnormal target tilt angles or included angles, reducing the operating risks of the tower belt conveyor caused by loose limit switches, internal aging, and wear in the prior art, thereby improving the operating safety of the tower belt conveyor.

[0031] Furthermore, the first target element includes a winch, the preset tilt angle range includes a first preset tilt angle range, and step S120 may include the following steps: Step S121: When the first tilt angle is greater than the maximum preset deceleration tilt angle of the first tilt angle preset range, control the winch to wind up the rope at the speed of the winch operation preset gear. Step S122: If the first tilt angle is greater than the maximum preset stop tilt angle of the first tilt angle preset range, the winch is prohibited from winding the rope, wherein the maximum preset stop tilt angle is greater than the maximum preset deceleration tilt angle; Step S123: When the first tilt angle is less than the minimum preset deceleration tilt angle within the preset range of the first tilt angle, control the winch to release the rope at the speed of the winch operation preset gear. Step S124: If the first tilt angle is less than the minimum preset stop tilt angle within the preset range of the first tilt angle, the winch is prohibited from releasing the rope, wherein the minimum preset stop tilt angle is less than the minimum preset deceleration tilt angle.

[0032] In step S121, under one example, the maximum preset deceleration angle within the first preset angle range is 90°. When the first angle is greater than the maximum preset deceleration angle of 90° within the first preset angle range, the winch is controlled to wind the rope at the speed of the first winch operating gear. The winch operating gears include the first winch operating gear and the second winch operating gear, with the speed of the first winch operating gear being lower than the speed of the second winch operating gear. Winding the rope refers to the process of orderly retracting and winding the winch wire rope onto the drum by driving the winch drum to rotate. Using a low-speed gear on the winch results in a slower adjustment process, which is suitable for precise control when the target angle initially exceeds the maximum preset deceleration angle within the first preset angle range, avoiding rapid movements that could cause new imbalances.

[0033] In step S122, under one example, the maximum preset stop tilt angle of the first tilt angle preset range is 100°. When the first tilt angle is greater than the maximum preset stop tilt angle of 100° within the first tilt angle preset range, the winch winding is prohibited to prevent the first tilt angle from continuing to increase.

[0034] In step S123, under one example, the minimum preset deceleration angle within the first preset angle range is -150°. When the first angle is less than the minimum preset deceleration angle of the first preset angle range (-150°), the winch is controlled to release the rope at the speed of the first winch operating gear. Winch rope release refers to the process of pulling out or releasing the winch wire rope in a controlled state by controlling the winch.

[0035] In step S124, under one example, the minimum preset stop tilt angle within the first tilt angle preset range is -160°. When the first tilt angle is less than the minimum preset stop tilt angle of the first tilt angle preset range, -160°, the winch rope release is prohibited to prevent the first tilt angle from continuing to decrease.

[0036] In this embodiment, the operation mode of the winch is controlled for the positive and negative values ​​of the first tilt angle, so as to limit the first tilt angle within the preset range of the first tilt angle in which the tower belt conveyor can operate safely. This is to prevent the change angle of the first tilt angle from being less than the physical limit of excessive reverse tilt of the inner belt (such as the inner belt overturning or the structure being subjected to reverse force) or greater than the physical limit of excessive forward tilt of the inner belt, thereby preventing failure of the inner belt support structure, sudden changes in load, etc.

[0037] Furthermore, the first target element includes a hook, the preset tilt angle range includes a second preset tilt angle range, the second preset tilt angle range includes the first preset tilt angle range, and step S120 may include the following steps: Step S125: When the second inclination angle is greater than the maximum preset deceleration inclination angle of the second inclination angle preset range, control the winch to release the rope at the speed of the winch operation preset gear and the hook to move upward at the speed of the lifting operation preset gear; Step S126: When the second tilt angle is greater than the maximum preset stop tilt angle of the second tilt angle preset range, the winch rope release and the hook upward movement are prohibited, wherein the maximum preset stop tilt angle is greater than the maximum preset deceleration tilt angle; Step S127: When the second tilt angle is less than the minimum preset deceleration tilt angle within the preset range of the second tilt angle, control the winch to wind up the rope at the speed of the winch operation preset gear and control the hook to move downward at the speed of the lifting operation preset gear; Step S128: When the second tilt angle is less than the minimum preset stop tilt angle within the preset range of the second tilt angle, the winch rope winding and the hook downward movement are prohibited, wherein the minimum preset stop tilt angle is less than the minimum preset deceleration tilt angle.

[0038] In step S125, under one example, the maximum preset deceleration angle within the second inclination angle preset range is 155°. When the second inclination angle is greater than the maximum preset deceleration angle of 155° within the second inclination angle preset range, the winch is controlled to release the rope at the speed of the first winch operating gear, and the hook moves upward at the speed of the first lifting operating gear. The lifting operation of the hook includes the first lifting operating gear, the second lifting operating gear, the third lifting operating gear, the fourth lifting operating gear, and the fifth lifting operating gear, wherein the speed of the first lifting operating gear < the speed of the second lifting operating gear < the speed of the third lifting operating gear < the speed of the fourth lifting operating gear < the speed of the fifth lifting operating gear. Both the winch and the hook use low speed gears, resulting in a slower adjustment process, which is suitable for fine control when the target inclination angle initially exceeds the maximum preset inclination angle, avoiding rapid movements that could cause new imbalances.

[0039] In step S126, under one example, the maximum preset stop tilt angle of the second tilt angle preset range is 165°. When the second tilt angle is greater than the maximum preset stop tilt angle of the second tilt angle preset range of 165°, the winch rope release and the hook upward movement are prohibited to prevent the second tilt angle from continuing to increase.

[0040] In step S127, under one example, the minimum preset deceleration angle within the second preset angle range is -155°. When the second inclination angle is less than the minimum preset deceleration angle of the second preset angle range (-155°), the winch is controlled to wind up the rope at the speed of the first winch operating gear, and the hook moves downward at the speed of the first lifting operating gear. Both the winch and the hook use low speed gears, resulting in a slower adjustment process. This is suitable for precise control when the target inclination angle initially exceeds the maximum preset inclination angle, avoiding rapid movements that could cause new imbalances.

[0041] In step S128, under one example, the minimum preset stop tilt angle within the second tilt angle preset range is -165°. When the second tilt angle is less than the minimum preset stop tilt angle of the second tilt angle preset range, -165°, the winch rope winding and the hook downward movement are prohibited to prevent the second tilt angle from continuing to decrease.

[0042] In this embodiment, the operation mode of the winch is controlled for the positive and negative values ​​of the second tilt angle, so as to limit the second tilt angle within the preset range of the second tilt angle in which the tower belt conveyor can operate safely. This is to prevent the change angle of the second tilt angle from being less than the physical limit of excessive reverse tilt of the outer belt (such as the outer belt overturning or the structure being subjected to reverse force) or greater than the physical limit of excessive forward tilt of the outer belt, thereby preventing failure of the outer belt support structure, sudden changes in load, etc.

[0043] Furthermore, the second target element includes a slewing mechanism and a luffing mechanism, and the included angle preset range includes a first included angle preset range. Step S140 may include the following steps: Step S141: When the first included angle is greater than the maximum preset deceleration included angle of the first included angle preset range, control the slewing mechanism to run in the first preset direction at the slewing running preset gear and control the luffing mechanism to run in the second preset direction at the luffing running preset gear; Step S142: When the first included angle is greater than the maximum preset stop included angle of the first included angle preset range, the slewing mechanism is prohibited from running in the first preset direction and the luffing mechanism is prohibited from running in the second preset direction; Step S143: When the first included angle is greater than the minimum preset deceleration included angle of the first included angle preset range, control the slewing mechanism to run in the third preset direction at the slewing running preset gear and control the luffing mechanism to run in the second preset direction at the luffing running preset gear. Step S144: When the first included angle is greater than the minimum preset stop included angle of the first included angle preset range, the slewing mechanism is prohibited from running in the third preset direction and the luffing mechanism is prohibited from running in the second preset direction.

[0044] In step S141, in one example, the maximum preset deceleration angle within the first preset angle range is 90°; the first preset direction is left, which in this embodiment is set based on the driver's field of vision in the driver's cab, i.e., left represents the left direction of the driver's field of vision; the second preset direction is inward, which in this embodiment is set based on the driver's field of vision in the driver's cab, i.e., inward represents the space between the luffing mechanism and the driver's cab. When the first angle is greater than the maximum preset deceleration angle of 90° within the first preset angle range, the slewing mechanism is controlled to only move to the left in the first slewing gear and the luffing mechanism is controlled to only move inward in the first luffing gear. Furthermore, this embodiment does not specifically restrict the slewing gear for the slewing mechanism to move to the right, nor does it specifically restrict the luffing gear for the luffing mechanism to move outward. In this embodiment, the right side is defined based on the driver's field of vision in the driver's cab, meaning the right side represents the right direction of the driver's field of vision; the outer side is defined based on the driver's field of vision in the driver's cab, meaning the outer side represents the space outside the luffing mechanism. The preset gear for slewing operation (first slewing operation gear) is the lowest speed gear for slewing operation, and the preset gear for luffing operation (first luffing operation gear) is the lowest speed gear for luffing operation.

[0045] In step S142, under one example, the maximum preset stop angle of the first included angle preset range is 100°. When the first included angle is greater than the maximum preset stop angle of the first included angle preset range of 100°, the slewing mechanism is prohibited from running to the left and the luffing mechanism is prohibited from running inward, so as to prevent the first included angle from continuing to increase. In addition, this application embodiment does not make specific restrictions on the slewing gear of the slewing mechanism running to the right, nor does it make specific restrictions on the luffing gear of the luffing mechanism running outward.

[0046] In step S143, in one example, the minimum preset deceleration angle of the first preset angle range is -150°, and the third preset direction is to the right. In this embodiment, the right side is set based on the driver's field of vision in the driver's cab, that is, the right side represents the right direction of the driver's field of vision. When the first angle is greater than the minimum preset deceleration angle of the first preset angle range -150°, the slewing mechanism can only move to the right in the first slewing gear and the luffing mechanism can only move inward in the first luffing gear. In addition, this embodiment does not specifically restrict the slewing gear for the slewing mechanism to move to the left, nor does it specifically restrict the luffing gear for the luffing mechanism to move outward.

[0047] In step S144, under one example, the minimum preset stop angle of the first included angle preset range is -160°. When the first included angle is greater than the minimum preset stop angle of the first included angle preset range -160°, the slewing mechanism is prohibited from running to the right and the luffing mechanism is prohibited from running inward, so as to prevent the first included angle from continuing to decrease. In addition, this application embodiment does not make specific restrictions on the slewing gear for the slewing mechanism to run to the left, nor does it make specific restrictions on the luffing gear for the luffing mechanism to run outward.

[0048] In this embodiment, the operation modes of the slewing mechanism and the luffing mechanism are controlled for the positive and negative values ​​of the first included angle, respectively, so as to limit the first included angle to a preset range within which the tower belt conveyor can operate safely. This is to prevent the change angle of the first included angle from being less than the physical limit of excessive reverse tilting of the inner belt (such as the inner belt flipping or the structure being subjected to reverse force) or greater than the physical limit of excessive forward tilting of the inner belt, thereby preventing failure of the inner belt support structure, sudden changes in load, etc.

[0049] Furthermore, the included angle preset range includes a second included angle preset range, and the second included angle preset range includes a first included angle preset range. Based on the target included angle and the included angle preset range, the operation of the second target element is controlled. Step S140 may include the following steps: Step S145: When the second included angle is greater than the maximum preset deceleration included angle of the preset range of the second included angle, control the slewing mechanism to run in the first preset direction at the preset slewing gear and the luffing mechanism to run in the second preset direction at the preset luffing gear; Step S146: When the second included angle is greater than the maximum preset stop included angle of the preset range of the second included angle, the slewing mechanism is prohibited from running in the first preset direction and the luffing mechanism is prohibited from running in the second preset direction; Step S147: When the second included angle is greater than the minimum preset deceleration included angle of the preset range of the second included angle, control the slewing mechanism to run in the third preset direction at the preset slewing gear and the luffing mechanism to run in the second preset direction at the preset luffing gear. Step S148: When the second included angle is greater than the minimum preset stop included angle of the preset range of the second included angle, the slewing mechanism is prohibited from running in the third preset direction and the luffing mechanism is prohibited from running in the second preset direction.

[0050] In step S145, in one example, the maximum preset deceleration angle within the second included angle preset range is 155°. When the second included angle is greater than the maximum preset deceleration angle of 155° within the second included angle preset range, the slewing mechanism is controlled to only move to the left at the first slewing gear and the luffing mechanism is controlled to only move inward at the first luffing gear. Furthermore, this embodiment does not specifically restrict the slewing gear for the slewing mechanism to move to the right, nor does it specifically restrict the luffing gear for the luffing mechanism to move outward.

[0051] In step S146, in one example, the maximum preset stop angle of the second included angle preset range is 165°. When the second included angle is greater than the maximum preset stop angle of the second included angle preset range of 165°, the slewing mechanism is prohibited from running to the left and the luffing mechanism is prohibited from running inward, so as to prevent the second included angle from continuing to increase. In addition, this application embodiment does not make specific restrictions on the slewing gear for the slewing mechanism to run to the right, nor does it make specific restrictions on the luffing gear for the luffing mechanism to run outward.

[0052] In step S147, in one example, the minimum preset deceleration angle within the second included angle preset range is -155°. When the second included angle is greater than the minimum preset deceleration angle of the second included angle preset range, -155°, the slewing mechanism is controlled to only move to the right in the first slewing gear and the luffing mechanism is controlled to only move inward in the first luffing gear. Furthermore, this embodiment does not specifically restrict the slewing gear for the slewing mechanism to move to the left, nor does it specifically restrict the luffing gear for the luffing mechanism to move outward.

[0053] In step S148, under one example, the minimum preset stop angle of the second included angle preset range is -165°. When the second included angle is greater than the minimum preset stop angle of the second included angle preset range -165°, the slewing mechanism is prohibited from running to the right and the luffing mechanism is prohibited from running inward, so as to prevent the second included angle from continuing to decrease. In addition, this application embodiment does not make specific restrictions on the slewing gear for the slewing mechanism to run to the left, nor does it make specific restrictions on the luffing gear for the luffing mechanism to run outward.

[0054] In this embodiment, the operation modes of the slewing mechanism and the luffing mechanism are controlled for the positive and negative values ​​of the second included angle, respectively, so as to limit the second included angle within the preset range of the second included angle in which the tower belt conveyor can operate safely. This is to prevent the change angle of the second included angle from being less than the physical limit of excessive reverse tilt of the outer belt (such as the outer belt overturning or the structure being subjected to reverse force) or greater than the physical limit of excessive forward tilt of the outer belt, thereby preventing failure of the outer belt support structure, sudden changes in load, etc.

[0055] In this embodiment of the application, the tower belt conveyor includes a display screen, a buzzer, and an electric horn, and the method further includes the following steps: Step S210: If the target tilt angle is not within the preset tilt angle range and / or the target included angle is not within the preset included angle range, control at least one of the display screen, buzzer and horn to sound an alarm.

[0056] In this embodiment of the application, when the target tilt angle is not within the preset tilt angle range and / or the target included angle is not within the preset included angle range, the control display screen, buzzer, and horn will sound an alarm. The display screen and buzzer are both located in the driver's cab to remind the driver to pay attention to operational safety, while the horn is located outside the driver's cab to remind personnel outside the driver's cab to avoid danger from the tower crane.

[0057] This application embodiment also provides a safety control device for a tower conveyor belt, including: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing instructions, to implement the safety control methods for the conveyor belt machine as described above.

[0058] It is understood that the safety control device for the tower belt conveyor provided in this application embodiment can realize each process of the safety control method for the tower belt conveyor in the above embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0059] This application embodiment also provides a tower belt conveyor, including: The first tilt sensor is installed on the inner belt and is used to detect the first tilt angle between the inner belt and the horizontal direction in the boom plane; The second tilt sensor is installed on the outer belt and is used to detect the second tilt angle between the outer belt and the horizontal direction in the boom plane; The first included angle encoder is installed on the inner belt and is used to detect the first included angle between the inner belt and the horizontal direction in the horizontal plane; The second included angle encoder is installed on the outer belt and is used to detect the second included angle between the outer belt and the horizontal direction in the horizontal plane; Such as the safety control device for the tower belt conveyor mentioned above.

[0060] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the safety control method for a tower conveyor as described above.

[0061] It is understood that the machine-readable storage medium provided in the embodiments of this application can implement each process of the safety control method of the tower conveyor in the above embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0062] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0063] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0064] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0065] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0066] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0067] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0068] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0069] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0070] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A safety control method of a tower belt conveyor, characterized by, The tower belt machine comprises an inner belt and an outer belt, and the method comprises: acquiring, in an arm plane, a first inclination of the inner belt with respect to a horizontal direction and a second inclination of the outer belt with respect to the horizontal direction; controlling operation of a first target element based on a target inclination and an inclination preset range, so that the target inclination is located in the inclination preset range, wherein the target inclination comprises the first inclination and the second inclination; acquiring, in a horizontal plane, a first included angle of the inner belt with respect to a horizontal direction and a second included angle of the outer belt with respect to the horizontal direction; controlling operation of a second target element based on a target included angle and an included angle preset range, so that the target included angle is located in the included angle preset range, wherein the target included angle comprises the first included angle and the second included angle.

2. The method of claim 1, wherein, The first target element comprises a winch, and the inclination preset range comprises a first inclination preset range. Controlling operation of the first target element based on the target inclination and the inclination preset range comprises: in a case where the first inclination is greater than a maximum preset deceleration inclination of the first inclination preset range, controlling the winch to reel in the rope at a speed of a preset gear of the winch; in a case where the first inclination is greater than a maximum preset stop inclination of the first inclination preset range, prohibiting the winch from reeling in the rope, wherein the maximum preset stop inclination is greater than the maximum preset deceleration inclination; in a case where the first inclination is less than a minimum preset deceleration inclination of the first inclination preset range, controlling the winch to reel out the rope at the speed of the preset gear of the winch; in a case where the first inclination is less than a minimum preset stop inclination of the first inclination preset range, prohibiting the winch from reeling out the rope, wherein the minimum preset stop inclination is less than the minimum preset deceleration inclination.

3. The method of claim 2, wherein, The first target element comprises a hook, and the inclination preset range comprises a second inclination preset range. The second inclination preset range comprises the first inclination preset range. Controlling operation of the first target element based on the target inclination and the inclination preset range comprises: in a case where the second inclination is greater than a maximum preset deceleration inclination of the second inclination preset range, controlling the winch to reel out the rope at the speed of the preset gear of the winch and the hook to run upward at a speed of a preset gear of hoisting operation; in a case where the second inclination is greater than a maximum preset stop inclination of the second inclination preset range, prohibiting the winch from reeling out the rope and the hook from running upward, wherein the maximum preset stop inclination is greater than the maximum preset deceleration inclination; in a case where the second inclination is less than a minimum preset deceleration inclination of the second inclination preset range, controlling the winch to reel in the rope at the speed of the preset gear of the winch and the hook to run downward at the speed of the preset gear of the hoisting operation; in a case where the second inclination is less than a minimum preset stop inclination of the second inclination preset range, prohibiting the winch from reeling in the rope and the hook from running downward, wherein the minimum preset stop inclination is less than the minimum preset deceleration inclination.

4. The method of claim 1, wherein, The second target element comprises a slewing mechanism and a luffing mechanism, the included angle preset interval comprises a first included angle preset interval, and the operation of the second target element is controlled based on the target included angle and the included angle preset interval, comprising: in the case that the first included angle is greater than the maximum preset deceleration included angle of the first included angle preset interval, the slewing mechanism is controlled to run in the preset gear of slewing operation in the first preset direction and the luffing mechanism is controlled to run in the preset gear of luffing operation in the second preset direction; in the case that the first included angle is greater than the maximum preset stop included angle of the first included angle preset interval, the slewing mechanism is prohibited from running in the first preset direction and the luffing mechanism is prohibited from running in the second preset direction; in the case that the first included angle is greater than the minimum preset deceleration included angle of the first included angle preset interval, the slewing mechanism is controlled to run in the preset gear of slewing operation in the third preset direction and the luffing mechanism is controlled to run in the preset gear of luffing operation in the second preset direction; in the case that the first included angle is greater than the minimum preset stop included angle of the first included angle preset interval, the slewing mechanism is prohibited from running in the third preset direction and the luffing mechanism is prohibited from running in the second preset direction.

5. The method of claim 4, wherein, The included angle preset interval comprises a second included angle preset interval, the second included angle preset interval comprises the first included angle preset interval, and the operation of the second target element is controlled based on the target included angle and the included angle preset interval, comprising: in the case that the second included angle is greater than the maximum preset deceleration included angle of the second included angle preset interval, the slewing mechanism is controlled to run in the preset gear of slewing operation in the first preset direction and the luffing mechanism is controlled to run in the preset gear of luffing operation in the second preset direction; in the case that the second included angle is greater than the maximum preset stop included angle of the second included angle preset interval, the slewing mechanism is prohibited from running in the first preset direction and the luffing mechanism is prohibited from running in the second preset direction; in the case that the second included angle is greater than the minimum preset deceleration included angle of the second included angle preset interval, the slewing mechanism is controlled to run in the preset gear of slewing operation in the third preset direction and the luffing mechanism is controlled to run in the preset gear of luffing operation in the second preset direction; in the case that the second included angle is greater than the minimum preset stop included angle of the second included angle preset interval, the slewing mechanism is prohibited from running in the third preset direction and the luffing mechanism is prohibited from running in the second preset direction.

6. The method of claim 5, wherein, The preset gear of slewing operation is the lowest speed gear of slewing operation, and the preset gear of luffing operation is the lowest speed gear of luffing operation.

7. The method of claim 1, wherein, The tower belt conveyor comprises a display screen, a buzzer and an electric siren, and the method further comprises: in the case that the target inclination angle is not located in the inclination angle preset interval and / or the target included angle is not located in the included angle preset interval, at least one of the display screen, the buzzer and the electric siren is controlled to alarm.

8. A safety control device for a tower belt conveyor, characterized by comprising: comprising: a memory configured to store instructions; A processor configured to call the instructions from the memory and enable the safety control method of the tower belt conveyor according to any one of claims 1 to 7 when executing the instructions.

9. A tower belt machine characterized by, Comprise: a first inclination sensor arranged on the inner belt for detecting a first inclination of the inner belt with respect to a horizontal direction in a plane of the boom; a second inclination sensor arranged on the outer belt for detecting a second inclination of the outer belt with respect to the horizontal direction in the plane of the boom; a first included angle encoder arranged on the inner belt for detecting a first included angle of the inner belt with respect to the horizontal direction in a horizontal plane; a second included angle encoder arranged on the outer belt for detecting a second included angle of the outer belt with respect to the horizontal direction in the horizontal plane; The safety control device of the tower belt conveyor according to claim 8.

10. A machine-readable storage medium, characterized in that, The machine readable storage medium has instructions stored thereon for causing a machine to perform the safety control method of the tower belt conveyor according to any one of claims 1 to 7.

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