Calibration method and device for the anti-tipping angle of the main boom in lifting equipment

Abstract

This invention relates to the field of mechanical engineering, specifically to a method and device for calibrating the anti-tilting entry angle of the main boom in lifting equipment. This application employs an automatic calibration process under no-load conditions. First, it collects the main boom's self-weight torque and force-related parameters based on the initial low-position angle. Then, it identifies the actual entry angle by utilizing the abrupt change in torque difference during uniform boom lifting. Finally, it calibrates the torque of auxiliary components based on this angle. Its beneficial effects are derived as follows: Manual calibration is prone to errors in the perceived entry angle and the actual force applied. This application eliminates the subjective errors of manual calibration by determining the entry angle through the abrupt change in torque difference. With accurate actual entry angle, the torque limiter can match the actual force state of the hydraulic cylinder during calculation, avoiding the error of "prematurely calculating / omitting the anti-tilting torque," thus significantly reducing the deviation between the theoretical and actual lifting weight. This solves the problem of false overload alarms affecting operational efficiency and avoids safety hazards caused by deviations in lifting weight calculation.

Description

Technical Field

[0001] This invention relates to the field of mechanical engineering, and more specifically to a method and apparatus for calibrating the anti-tipping angle of the main boom entering the groove of lifting equipment. Background Technology

[0002] In the torque control system of lifting equipment, the entry angle of the main boom anti-tilt cylinder is one of the key parameters affecting the accuracy of torque calculation. Currently, the entry angle of the main boom anti-tilt cylinder mostly relies on manual calibration by commissioning personnel. However, there is often a certain angular error range between the "visually entered state" and the "actual state of generating support force" of the main boom anti-tilt cylinder.

[0003] Within this range, the theoretical lifting capacity calculation of the torque limiter will deviate from the actual lifting capacity. For example, if the actual entry angle is 60.5° but the manual calibration is 60°, when the boom angle is 60.3°, the system will incorrectly include the anti-tilting cylinder torque, which is not actually under load, in the calculation, resulting in a significant underestimation of the theoretical lifting capacity. Conversely, if the calibration angle is greater than the actual entry angle, the system will miss the actual anti-tilting cylinder torque within the range between the calibration and actual entry angles, causing the theoretical lifting capacity calculation to be significantly overestimated, and even triggering unnecessary overload alarms. This error in the manual calibration method directly affects the calculation accuracy of the torque limiter, thereby restricting the operational safety and efficiency of the lifting equipment. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a calibration method and device for the anti-tilting entry angle of the main boom into the groove of lifting equipment, in order to solve the problem that the manual calibration method of the anti-tilting cylinder entry angle of the main boom in the groove in the prior art will result in a large deviation between the theoretical lifting weight calculation and the actual lifting weight of the torque limiter due to the angle error between the visual entry angle and the actual force, which will affect the work efficiency and pose safety hazards.

[0005] In a first aspect, embodiments of the present invention provide a method for calibrating the anti-tipping angle of the main boom entering the groove of a lifting device, the method comprising: When the lifting equipment is in an empty hook and unloaded state, the main boom of the lifting equipment is adjusted to an initial low position angle, wherein the initial low position angle is less than the expected entry angle of the anti-tilting cylinder. Obtain the self-weight torque of the main boom and the force-related parameters during the torque balance calculation of the main boom; The main boom is controlled to lift at a constant speed at the initial low position angle, and the actual entry angle of the anti-tilting cylinder is determined by the force correlation parameters during the lifting process of the main boom at a constant speed. The main boom is controlled to continue lifting, and during the lifting process, the torque corresponding to the weight of the main boom itself at different angles is calibrated based on the self-weight torque, the force-related parameters, and the actual entry angle.

[0006] Furthermore, the force-related parameters include: main boom pulling plate force, pulling plate lever arm length, anti-tilting cylinder pressure, cylinder large cavity cross-sectional area, and cylinder lever arm length.

[0007] Furthermore, determining the actual entry angle of the anti-tilting cylinder into the groove using the force correlation parameters includes: The first torque is calculated based on the main arm pulling plate force and the pulling plate lever arm length; The theoretical support force of the main boom anti-tilt cylinder is calculated based on the anti-tilt cylinder pressure and the cross-sectional area of ​​the cylinder's large cavity, and the second torque is calculated based on the theoretical support force and the cylinder lever arm length. Calculate the temporary torque difference by calculating the difference between the first torque and the second torque; Compare the temporary torque difference with the historical torque difference; If the difference between the temporary torque difference and the historical torque difference exceeds a preset value, the current main boom angle is marked as the actual entry angle.

[0008] Furthermore, the step of calibrating the torque corresponding to the weight of the main boom at different angles based on the self-weight torque, the force-related parameters, and the actual entry angle includes: Obtain the real-time angle of the main arm during the lifting process; By comparing the real-time angle with the actual entry angle, a comparison result is obtained; The actual support force of the main boom anti-tilt cylinder on the main boom is determined based on the comparison results. The torque corresponding to the weight of the main boom at different angles is calibrated based on the self-weight torque, the actual support force, and the force-related parameters.

[0009] Furthermore, determining the actual support force of the main boom anti-tilt cylinder on the main boom based on the comparison results includes: If the comparison result shows that the real-time angle is less than the actual entry angle, then the actual support force is 0; or, If the comparison result shows that the real-time angle is greater than or equal to the actual entry angle, then the actual support force is the theoretical support force of the main boom anti-tilt cylinder.

[0010] Furthermore, the step of calibrating the moment corresponding to the weight of the main boom at different angles based on the self-weight moment, the actual support force, and the force-related parameters includes: If the comparison result is that the real-time angle is less than the actual entry angle, then the first torque is calculated based on the main arm pulling plate force and the pulling plate lever arm length; Calculate the difference between the first torque and the self-weight torque, and use the difference as the torque corresponding to the weight of the main boom at the real-time angle.

[0011] Furthermore, the step of calibrating the moment corresponding to the weight of the main boom at different angles based on the self-weight moment, the actual support force, and the force-related parameters includes: If the comparison result is that the real-time angle is greater than or equal to the actual entry angle, then the first torque is calculated based on the main arm pulling plate force and the pulling plate lever arm length; The third torque is calculated based on the actual support force and the length of the cylinder lever arm. Calculate the first difference between the first torque and the third torque, and calculate the second difference between the first difference and the self-weight torque; The second difference is taken as the torque corresponding to the weight of the main boom itself at the real-time angle.

[0012] Secondly, embodiments of the present invention provide a calibration device for the anti-tipping angle of the main boom entering the groove of a lifting device, the device comprising: The adjustment module is used to adjust the main boom of the lifting equipment to an initial low position angle when the lifting equipment is in an empty hook and unloaded state, wherein the initial low position angle is less than the expected entry angle of the anti-tilting cylinder. The acquisition module is used to acquire the self-weight torque of the main boom and the force-related parameters during the torque balance calculation of the main boom; The control module is used to control the main boom to lift at a constant speed at the initial low angle, and to determine the actual entry angle of the anti-tilting cylinder in the groove using the force correlation parameters during the lifting process of the main boom at a constant speed. The calibration module is used to control the main boom to continue lifting, and during the lifting process, it calibrates the torque corresponding to the weight of the main boom itself at different angles based on the self-weight torque, the force-related parameters, and the actual entry angle.

[0013] Thirdly, embodiments of the present invention provide a computer device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0014] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that cause a computer to perform the method described in the first aspect or any of its corresponding embodiments.

[0015] This application employs an automatic calibration process under no-load conditions. First, it collects the main boom's self-weight torque and force-related parameters based on the initial low-angle. Then, it identifies the actual entry angle by utilizing the abrupt change in torque difference during uniform boom lifting. Finally, it calibrates the torque of auxiliary components based on this angle. Its beneficial effects are derived as follows: Manual calibration is prone to errors in the perceived entry angle and the actual force applied. This application eliminates subjective errors in manual calibration by determining the entry angle through abrupt changes in torque difference. With accurate actual entry angle, the torque limiter can match the actual force state of the hydraulic cylinder during calculation, avoiding errors such as "pre-calculating / omitting anti-tilting torque," significantly reducing the deviation between theoretical and actual lifting weight. This solves the problem of false overload alarms affecting operational efficiency and avoids safety hazards caused by deviations in lifting weight calculation. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating a method for calibrating the anti-tipping angle of the main boom of a lifting device according to some embodiments of the present invention. Figure 2 This is a schematic diagram of the main boom anti-tilt cylinder entering the groove according to some embodiments of the present invention; Figure 3 This is a schematic diagram of the working condition when the main boom anti-tilt cylinder has just entered the groove, according to some embodiments of the present invention. Figure 4 This is a schematic diagram of the working condition where the main boom anti-tilt cylinder is fully inserted into the groove, according to some embodiments of the present invention. Figure 5 This is a schematic diagram of the working condition where the main boom anti-tilt cylinder is not in the groove, according to some embodiments of the present invention; Figure 6 This is a schematic diagram of the main boom frame of a lifting device according to some embodiments of the present invention; Figure 7 This is a structural block diagram of a calibration device for the anti-backward tilting angle of the main boom of a lifting equipment, according to an embodiment of the present invention. Figure 8This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] According to embodiments of the present invention, a calibration method and apparatus for the anti-backward tilting angle of the main boom of a lifting device are provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0020] This embodiment provides a calibration method for the anti-tipping angle of the main boom of a lifting equipment. Figure 1 This is a flowchart of a calibration method for the anti-tipping angle of the main boom of a lifting equipment according to an embodiment of the present invention, as shown below. Figure 1 As shown, the process includes the following steps: Step S101: When the lifting equipment is in an empty hook and unloaded state, adjust the main boom of the lifting equipment to the initial low position angle, wherein the initial low position angle is less than the expected entry angle of the anti-tilting cylinder.

[0021] In this embodiment of the application, before performing this step, it is necessary to confirm that the lifting equipment is in a completely unloaded state, that is, the hook is not suspending any heavy object, and the slings are in a slack and unloaded state, so as to avoid interference of additional load on the main boom torque. Subsequently, the main boom control of the lifting equipment is operated, and the main boom is slowly lowered through the luffing mechanism to adjust the main boom to the initial low position angle.

[0022] The "initial low-position angle" here must meet strict prerequisites, namely, its angle value must be less than the expected entry angle of the anti-tilting cylinder (this expected angle is usually the threshold angle at which the cylinder begins to bear force, preset during the equipment design phase). During the adjustment process, the angle change needs to be monitored in real time using the boom angle sensor to ensure that the final position is stable within the preset low-position range. The core purpose of this step is to provide an initial reference state for subsequent parameter acquisition and entry angle identification, and to avoid the cylinder entering the force state prematurely when the boom starts at a higher angle, thus affecting the accuracy of the calibration results.

[0023] Step S102: Obtain the self-weight torque of the main boom and the force-related parameters during the torque balance calculation of the main boom.

[0024] In this embodiment, the force-related parameters include: main boom pulling plate force, pulling plate lever arm length, anti-tilting cylinder pressure, cylinder large cavity cross-sectional area, and cylinder lever arm length.

[0025] In this embodiment, after the initial angle adjustment of the main boom is completed, the sensing and data acquisition related to the main boom torque are initiated, and two types of core data are acquired simultaneously: The first type is the main boom's self-weight torque. The self-weight of the main boom (i.e., the mass of the main boom itself) needs to be determined first through equipment design parameters or weighing equipment. Then, combined with the distance from the main boom's center of gravity to the torque calculation reference point (usually the main boom hinge point) at the current initial low angle (i.e., the main boom's self-weight lever arm length), the main boom's self-weight torque is calculated using the formula "self-weight × self-weight lever arm length." This torque is the basic load item for subsequent torque balance calculations. The second type is the force-related parameters during the main boom torque balance calculation.

[0026] Specifically, this includes: real-time acquisition of force data (i.e., main boom pulling force) of the main boom pulling plate using a pulling plate force sensor; matching the pulling plate lever arm length corresponding to the current initial low-position angle using an angle-lever arm mapping model (the relationship between the pulling plate lever arm and the main boom angle needs to be calibrated in advance through simulation or actual measurement); acquiring real-time pressure of the anti-tilting cylinder using a cylinder pressure sensor; calling the preset cylinder large cavity cross-sectional area parameters (this parameter is a fixed design value for the cylinder); and obtaining the cylinder lever arm length corresponding to the current angle using the angle-lever arm mapping model. These parameters will serve as the core input data for subsequent torque calculation and groove entry angle identification. The real-time performance and data accuracy of the acquisition process must be ensured; typically, multiple sets of data need to be continuously acquired and averaged to reduce the impact of sensor noise.

[0027] Step S103: Control the main boom to lift at a constant speed at the initial low position angle, and determine the actual entry angle of the anti-tilting cylinder in the groove using the force correlation parameters during the constant speed lifting process of the main boom.

[0028] In this embodiment, the actual entry angle of the anti-tilt cylinder is determined using force-related parameters, including: calculating a first torque based on the main boom pull plate force and the pull plate lever arm length; calculating the theoretical support force of the main boom anti-tilt cylinder based on the anti-tilt cylinder pressure and the cylinder large cavity cross-sectional area; calculating a second torque based on the theoretical support force and the cylinder lever arm length; calculating a temporary torque difference based on the difference between the first torque and the second torque; comparing the temporary torque difference with the historical torque difference; if the difference between the temporary torque difference and the historical torque difference exceeds a preset value, marking the current main boom angle as the actual entry angle.

[0029] During the constant-speed boom lifting process, the force data of the boom pull plate (i.e., the boom pull plate force) is collected in real time. At the same time, combined with the pull plate lever arm length corresponding to the current boom angle (the lever arm length changes dynamically with the boom angle and needs to be matched synchronously with the current angle parameters), the collected boom pull plate force is multiplied by the corresponding pull plate lever arm length according to the torque calculation rule of "force × lever arm". The result is the first torque, which reflects the torque exerted by the pull plate on the boom and is one of the core foundations for subsequent torque difference calculation.

[0030] The pressure data of the anti-tilt cylinder is acquired in real time. Combined with the preset cross-sectional area parameters of the cylinder's large cavity, and based on the mechanical formula "force = pressure × area of ​​force," the cylinder pressure is multiplied by the cross-sectional area of ​​the large cavity to obtain the theoretical support force of the main boom anti-tilt cylinder, that is, the magnitude of the thrust that the cylinder can provide. Subsequently, the cylinder lever arm length corresponding to the current main boom angle is acquired simultaneously. Again, using the rule of "force × lever arm," the calculated theoretical support force is multiplied by the corresponding cylinder lever arm length. The result is the second torque, which reflects the theoretical torque exerted by the cylinder on the main boom.

[0031] First, subtract the second torque from the first torque to obtain the temporary torque difference at the current moment; simultaneously, historical torque difference data needs to be stored in real time (the temporary torque difference from 20ms ago can be used as historical data), and the difference between the current temporary torque difference and this historical data is calculated; if the difference between the two torque differences exceeds a preset threshold (e.g., 10 tons)... If the angle of the main boom is recorded (in meters), it is determined that the anti-tilting cylinder has completed its entry into the tank. The current angle of the main boom is then recorded and marked as the actual entry angle of the anti-tilting cylinder.

[0032] Step S104: Control the main boom to continue lifting, and during the lifting process, calibrate the torque corresponding to the weight of the main boom frame at different angles based on its own weight torque, force-related parameters, and actual entry angle.

[0033] In this embodiment of the application, the torque corresponding to the weight of the main boom at different angles is calibrated based on its own weight torque, force-related parameters, and actual entry angle, including: Step A1: Obtain the real-time angle of the main arm during the lifting process.

[0034] Specifically, during the continuous lifting of the main boom, an angle sensing device connected to the boom hinge point is activated. This device captures the real-time angle change of the main boom relative to the slewing base of the lifting equipment and converts the angle signal into digital data, which is then transmitted to the control unit. To ensure the accuracy of the angle data, a high-frequency data acquisition frequency (e.g., once every 10ms) is set, and the acquired angle values ​​are filtered to remove abnormal data caused by mechanical vibration or sensor noise. The calibrated real-time angle data is then correlated and stored with the boom lifting timeline to form a continuous angle change curve.

[0035] Step A2: Compare the real-time angle with the actual entry angle to obtain the comparison results.

[0036] Specifically, after acquiring the real-time angle data of the main boom, the system automatically retrieves the marked actual entry angle threshold of the anti-tilt cylinder and initiates the data comparison logic. The comparison process uses the time sequence of the main boom's lifting as a guide, comparing the real-time angle at each acquisition moment with the actual entry angle to generate a clear comparison result: if the real-time angle value is less than the actual entry angle value, it is determined as "entry angle not reached"; if the real-time angle value is greater than or equal to the actual entry angle value, it is determined as "entry angle reached or exceeded". To avoid misjudgments caused by instantaneous angle fluctuations, a three-set data verification mechanism is set up. Only when the results of three consecutive comparisons are consistent is the comparison result confirmed as valid, thus ensuring the stability of subsequent actual support force determination and avoiding torque calculation errors caused by accidental angle jumps.

[0037] Step A3: Determine the actual support force of the main boom anti-tilt cylinder on the main boom based on the comparison results.

[0038] Specifically, the actual support force of the anti-tilt cylinder on the main boom is determined based on the comparison results, including: if the comparison result shows that the real-time angle is less than the actual entry angle, then the actual support force is 0; or, if the comparison result shows that the real-time angle is greater than or equal to the actual entry angle, then the actual support force is the theoretical support force of the anti-tilt cylinder.

[0039] If the comparison result indicates that "the real-time angle is less than the actual entry angle," it means that the anti-tilt cylinder has not yet entered the tank and cannot provide effective support to the main boom. Therefore, the actual support force is directly set to 0. If the comparison result indicates that "the real-time angle is greater than or equal to the actual entry angle," it means that the cylinder has successfully entered the tank and begun to bear force. At this time, the collected anti-tilt cylinder pressure and cylinder large cavity cross-sectional area parameters are retrieved. The theoretical support force of the cylinder is calculated according to the mechanical formula "force = pressure × area of ​​force" and directly set as the actual support force of the cylinder on the main boom. This judgment process is carried out in real time with the main boom lifting action to ensure that the value of the actual support force is always consistent with the actual force state of the cylinder in different angle ranges.

[0040] Step A4: Based on the self-weight torque, actual support force, and force-related parameters, calibrate the torque corresponding to the weight of the main boom at different angles.

[0041] In this embodiment of the application, the torque corresponding to the weight of the main boom at different angles is calibrated based on the self-weight torque, actual support force, and force-related parameters. This includes: if the comparison result shows that the real-time angle is less than the actual entry angle, then the first torque is calculated based on the main boom pulling plate force and the pulling plate lever arm length; the difference between the first torque and the self-weight torque is calculated, and the difference is used as the torque corresponding to the weight of the main boom at the real-time angle.

[0042] The collected and stored force-related parameters are retrieved, including the main boom pulling plate force and the pulling plate lever arm length corresponding to the current real-time angle. According to the mechanical formula "torque = force × lever arm", the main boom pulling plate force is multiplied by the corresponding pulling plate lever arm length to calculate the first torque. This torque reflects the actual torque exerted by the pulling plate on the main boom and is the core basic data for subsequent torque difference calculation.

[0043] Subsequently, the calculated moment of the main boom's self-weight (i.e., the product of the main boom's self-weight and the corresponding length of the self-weight lever arm) is retrieved. The first moment calculated above is used as the minuend, and the moment of the main boom's self-weight is used as the subtrahend, and the difference is calculated.

[0044] Since the boom angle has not yet reached the actual entry angle, the anti-tilt cylinder's actual support force is 0, and its corresponding torque is negligible. Therefore, this difference is directly equivalent to the torque of the auxiliary components at the current real-time boom angle. After the calculation is completed, the current real-time angle and the corresponding auxiliary component torque value are associated and stored. At the same time, the boom is controlled to continue to slowly lift. At subsequent different real-time angles (all less than the actual entry angle), the above calculation process is repeated to continuously collect and store the auxiliary component torque data corresponding to each angle, forming a continuous low-angle range torque dataset.

[0045] It can be noted that the lifting equipment in the embodiments of this application can be a crawler crane. The crawler crane mainly includes a crane body platform, an anti-tilting cylinder, a main boom and related support structures. The crane body platform serves as the foundation for the entire machine to bear load and rotate. The main boom is installed at the front of the body platform through a hinged structure. One end of the anti-tilting cylinder is connected to the body platform, and the other end is arranged corresponding to the rear side of the main boom. It is used to achieve anti-tilting support and limit when the main boom is luffed to the corresponding angle.

[0046] like Figure 2 As shown in the figure, the anti-tilting cylinders of the crane's main boom have entered the groove. During the process of the main boom raising at a constant speed, the real-time angle of the main boom has reached and exceeded the actual groove angle of the anti-tilting cylinders. One end of the two anti-tilting cylinders is hinged to the lower base structure of the crane, and the other end has contacted and been subjected to force with the main boom truss structure, and has begun to output support force to participate in the torque balance of the main boom.

[0047] like Figure 3 As shown in the figure, the critical working condition of the anti-tilting cylinder of the crane main boom just entering the groove is when the main boom is raised at a constant speed from the initial low position angle. The real-time angle of the main boom just reaches the actual entry angle of the anti-tilting cylinder. One end of the anti-tilting cylinder is hinged to the lower base of the crane, and the other end just contacts the main boom truss structure and begins to bear the force, initially participating in the torque balance of the main boom.

[0048] like Figure 4 As shown in the figure, the anti-tilting cylinder of the crane boom is fully inserted into the groove. During the continuous and uniform lifting of the boom, the real-time angle of the boom has significantly exceeded the actual insertion angle of the anti-tilting cylinder. One end of the anti-tilting cylinder is hinged to the lower base of the crane, and the other end is in complete contact with the boom truss structure and is stably subjected to force, continuously outputting support force to participate in the boom torque balance.

[0049] like Figure 5 As shown in the diagram, the crane's main boom anti-tilt cylinders are not yet in the slot. The main boom has been adjusted to an initial low angle less than the expected slot entry angle of the anti-tilt cylinders. One end of each anti-tilt cylinder is hinged to the crane's lower base structure, while the other end is not yet in contact with the main boom truss structure and is in a relaxed, ready-to-enter-slot state. Specifically, when the main boom is adjusted to an initial low angle less than the expected slot entry angle of the anti-tilt cylinders, one end of each anti-tilt cylinder is hinged to the crane's lower base structure, while the other end is not yet in contact with the main boom truss structure and is in a relaxed, ready-to-enter-slot state. At this time, the real-time angle of the main boom is less than the calibrated actual slot entry angle, the anti-tilt cylinders have no supporting force output, and the main boom torque is balanced solely by its own weight torque and the main boom tension plate torque.

[0050] In this embodiment of the application, the torque corresponding to the weight of the main boom at different angles is calibrated based on the self-weight torque, actual support force, and force-related parameters. This includes: if the comparison result shows that the real-time angle is greater than or equal to the actual entry angle, then a first torque is calculated based on the main boom pull plate force and the pull plate lever arm length; a third torque is calculated based on the actual support force and the cylinder lever arm length; a first difference between the first torque and the third torque is calculated, and a second difference between the first difference and the self-weight torque is calculated; the second difference is used as the torque corresponding to the weight of the main boom at the real-time angle.

[0051] The collected and stored force-related parameters are retrieved, and the main boom pull plate force and pull plate lever arm length corresponding to the current real-time angle are extracted. Based on the classic mechanics formula "torque = force × lever arm," the main boom pull plate force is multiplied by the corresponding pull plate lever arm length to calculate the first torque. This torque directly reflects the actual torque exerted by the pull plate on the main boom and is the core foundational data for subsequent torque difference calculations. Subsequently, the actual support force of the main boom anti-tilt cylinder determined in step A3 and the cylinder lever arm length corresponding to the current real-time angle are retrieved, and the third torque is calculated again using the formula "torque = force × lever arm." This third torque reflects the supporting torque of the anti-tilt cylinder on the main boom after it enters the groove and is the key torque term distinguishing this angle range from the lower angle range.

[0052] Then, the first torque is subtracted from the third torque to obtain the first difference, which represents the resultant torque of the pulling plate torque and the hydraulic cylinder support torque. Next, the self-weight torque is subtracted from the first difference to obtain the second difference. Since the main boom angle has reached or exceeded the actual entry angle, the hydraulic cylinder provides effective support, and the self-weight torque, pulling plate torque, and hydraulic cylinder torque all participate in torque balance. Therefore, this second difference is directly equivalent to the torque of the auxiliary components of the main boom at the current real-time angle.

[0053] After calculation, the current real-time angle is associated with and stored in relation to the corresponding auxiliary component torque values. Simultaneously, the main boom continues to slowly lift. This calculation process is repeated at subsequent real-time angles (all greater than or equal to the actual entry angle), continuously collecting and storing auxiliary component torque data for each angle to form a continuous high-angle range torque dataset. The entire process must ensure the real-time nature of parameter retrieval and the accuracy of calculations. High-frequency acquisition and multiple data verifications are used to avoid calculation errors caused by angle fluctuations or sensor noise, ultimately forming an auxiliary component torque calibration database covering the entire boom lifting angle.

[0054] As an example, such as Figure 6 As shown, Figure 6The diagram illustrates the force and lever arm relationships of components such as the main boom, tie plate, and anti-tilt cylinder. "F3" in the diagram represents the force exerted by the tie plate on the main boom, and "L3" represents the corresponding lever arm length of the tie plate. "F4" represents the actual supporting force of the anti-tilt cylinder on the main boom, and "L4" represents the lever arm length of the cylinder. "W2" corresponds to the weight of the main boom's auxiliary components, and "L2" represents its lever arm (distance to the torque reference point). "L1" can be understood as the reference length of the lever arm of the main boom's own weight.

[0055] During the empty hook calibration process, the change of W1×L1+W2×L2 during the boom raising process is continuous and will not change abruptly. Therefore, the difference between the main boom pull plate torque and the main boom anti-tilt cylinder torque, Diff=F3×L3–F4×L4, should also be a continuously changing value. However, F4 will change abruptly at the moment the anti-tilt cylinder enters the groove. At the moment F4 changes abruptly, F3 will also change abruptly. The system records that Diff_M=F3×L3–F4×L4_M will change abruptly. When the difference between Diff_M and the value 20ms ago exceeds 10 ton-meters, it is considered that the force state of the anti-tilt cylinder has changed. The main boom angle A1 at this time is marked as the main boom anti-tilt entry point. When it is less than A1, F4=0; when it is greater than or equal to A1, F4=F4_M, ensuring that Diff will not change abruptly.

[0056] Before implementing this solution, A1 was manually calibrated by the commissioning personnel, which had a certain error compared to the actual entry angle. For example, the anti-tilt cylinder of the main boom started to bear force at an actual angle of 60.5°, but the calibrated angle was 60°. Therefore, when the main boom was at 60.3°, the actual force F4 on the anti-tilt cylinder was 0, but the program considered F4 = F4_M. This caused a sudden change in W2×L2 during calibration from 59.9° to 60.0°. That is, W1×L1, F3×L3, and L4 did not change much, but F4 suddenly changed from 0 to F4_M, resulting in a sudden decrease in the calculated W2×L2, leading to an error. However, when the anti-tilt cylinder of the main boom actually entered the tank and bore force, F3 also increased accordingly. The change between F3×L3 and F4×L4 was not significant, so the actual A1 value could be determined based on F3×L3 - F4×L4, thus ensuring the accuracy of the calibrated W2×L2.

[0057] This embodiment also provides a calibration device for the anti-tipping angle of the main boom entering the groove of a lifting device. This device is used to implement the above embodiments and preferred embodiments, and will not be repeated as already described. As used below, the term "module" can be a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0058] This embodiment provides a calibration device for the anti-tipping-back-into-the-groove angle of the main boom of a lifting equipment, such as... Figure 7 As shown, it includes: The adjustment module 301 is used to adjust the main boom of the lifting equipment to an initial low position angle when the lifting equipment is in an empty hook and unloaded state, wherein the initial low position angle is less than the expected entry angle of the anti-tilting cylinder. The acquisition module 302 is used to acquire the self-weight torque of the main boom and the force-related parameters during the torque balance calculation of the main boom; Control module 303 is used to control the main boom to lift at a constant speed at an initial low angle, and to determine the actual entry angle of the anti-tilting cylinder in the trench using force correlation parameters during the lifting process of the main boom at a constant speed. The calibration module 304 is used to control the main boom to continue lifting, and during the lifting process, it calibrates the torque corresponding to the weight of the main boom itself at different angles based on the self-weight torque, force-related parameters and the actual entry angle.

[0059] In this embodiment, the force-related parameters include: main boom pulling plate force, pulling plate lever arm length, anti-tilting cylinder pressure, cylinder large cavity cross-sectional area, and cylinder lever arm length.

[0060] In this embodiment, the control module 303 is used to calculate a first torque based on the main boom pulling plate force and the pulling plate lever arm length; calculate the theoretical support force of the main boom anti-tilt cylinder based on the anti-tilt cylinder pressure and the cylinder large cavity cross-sectional area; and calculate a second torque based on the theoretical support force and the cylinder lever arm length; calculate the difference between the first torque and the second torque to calculate a temporary torque difference; compare the temporary torque difference with the historical torque difference; and if the difference between the temporary torque difference and the historical torque difference exceeds a preset value, mark the current main boom angle as the actual entry angle.

[0061] In this embodiment, the calibration module 304 is used to acquire the real-time angle of the main boom during the lifting process; compare the real-time angle with the actual entry angle to obtain the comparison result; determine the actual support force of the main boom anti-tilt cylinder on the main boom based on the comparison result; and calibrate the torque corresponding to the weight of the main boom frame at different angles based on the self-weight torque, the actual support force, and the force-related parameters.

[0062] In this embodiment of the application, the calibration module 304 is used to determine that if the comparison result shows that the real-time angle is less than the actual entry angle, then the actual support force is 0; or, if the comparison result shows that the real-time angle is greater than or equal to the actual entry angle, then the actual support force is the theoretical support force of the main boom anti-tilt cylinder.

[0063] In this embodiment of the application, the calibration module 304 is used to calculate a first torque based on the main boom pulling plate force and the pulling plate lever arm length if the comparison result is that the real-time angle is less than the actual entry angle; calculate the difference between the first torque and the self-weight torque, and use the difference as the torque corresponding to the weight of the main boom frame at the real-time angle.

[0064] In this embodiment of the application, the calibration module 304 is used to calculate a first torque based on the main boom pulling plate force and the pulling plate lever arm length if the comparison result is that the real-time angle is greater than or equal to the actual entry angle; calculate a third torque based on the actual support force and the cylinder lever arm length; calculate a first difference between the first torque and the third torque, and calculate a second difference between the first difference and the self-weight torque; and use the second difference as the torque corresponding to the main boom's own weight at the real-time angle.

[0065] The lifting equipment provided in this application embodiment is equipped with the above-mentioned calibration device for the anti-backward tilting angle of the main boom entering the groove. Specifically, the lifting equipment can be a crawler crane. Through this calibration device, the accurate calibration of the anti-backward tilting angle of the main boom entering the groove can be achieved, effectively ensuring the structural stability and operational safety of the crawler crane during operation and luffing.

[0066] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 8 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).

[0067] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0068] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0069] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0070] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0071] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0072] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0073] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for calibrating the anti-back-tilting-in-slot angle of a main boom of a lifting device, characterized in that, The method includes: When the lifting equipment is in an empty hook and unloaded state, the main boom of the lifting equipment is adjusted to an initial low position angle, wherein the initial low position angle is less than the expected entry angle of the anti-tilting cylinder. Obtain the self-weight torque of the main boom and the force-related parameters during the torque balance calculation of the main boom; The main boom is controlled to lift at a constant speed at the initial low position angle, and the actual entry angle of the anti-tilting cylinder is determined by the force correlation parameters during the lifting process of the main boom at a constant speed. The main boom is controlled to continue lifting, and during the lifting process, the torque corresponding to the weight of the main boom itself at different angles is calibrated based on the self-weight torque, the force-related parameters, and the actual entry angle.

2. The method of claim 1, wherein, The force-related parameters include: main boom pulling plate force, pulling plate lever arm length, anti-tilting cylinder pressure, cylinder large cavity cross-sectional area, and cylinder lever arm length.

3. The method of claim 2, wherein, Determining the actual entry angle of the anti-tilting cylinder using the force correlation parameters includes: The first torque is calculated based on the main arm pulling plate force and the pulling plate lever arm length; The theoretical support force of the main boom anti-tilt cylinder is calculated based on the anti-tilt cylinder pressure and the cross-sectional area of ​​the cylinder's large cavity, and the second torque is calculated based on the theoretical support force and the cylinder lever arm length. Calculate the temporary torque difference by calculating the difference between the first torque and the second torque; Compare the temporary torque difference with the historical torque difference; If the difference between the temporary torque difference and the historical torque difference exceeds a preset value, the current main boom angle is marked as the actual entry angle.

4. The method of claim 2, wherein, The calibration of the moment corresponding to the weight of the main boom at different angles based on the self-weight moment, the force correlation parameters, and the actual entry angle includes: Obtain the real-time angle of the main arm during the lifting process; By comparing the real-time angle with the actual entry angle, a comparison result is obtained; The actual support force of the main boom anti-tilt cylinder on the main boom is determined based on the comparison results. The torque corresponding to the weight of the main boom at different angles is calibrated based on the self-weight torque, the actual support force, and the force-related parameters.

5. The method of claim 4, wherein, The step of determining the actual support force of the main boom anti-tilt cylinder on the main boom based on the comparison results includes: If the comparison result shows that the real-time angle is less than the actual entry angle, then the actual support force is 0; or, If the comparison result shows that the real-time angle is greater than or equal to the actual entry angle, then the actual support force is the theoretical support force of the main boom anti-tilt cylinder.

6. The method of claim 4, wherein, The step of calibrating the moment corresponding to the weight of the main boom at different angles based on the self-weight moment, the actual support force, and the force-related parameters includes: If the comparison result is that the real-time angle is less than the actual entry angle, then the first torque is calculated based on the main arm pulling plate force and the pulling plate lever arm length; Calculate the difference between the first torque and the self-weight torque, and use the difference as the torque corresponding to the weight of the main boom at the real-time angle.

7. The method according to claim 4, characterized in that, The step of calibrating the moment corresponding to the weight of the main boom at different angles based on the self-weight moment, the actual support force, and the force-related parameters includes: If the comparison result is that the real-time angle is greater than or equal to the actual entry angle, then the first torque is calculated based on the main arm pulling plate force and the pulling plate lever arm length; The third torque is calculated based on the actual support force and the length of the cylinder lever arm. Calculate the first difference between the first torque and the third torque, and calculate the second difference between the first difference and the self-weight torque; The second difference is taken as the torque corresponding to the weight of the main boom itself at the real-time angle.

8. A calibration device for the anti-tipping angle of the main boom entering the groove in crane equipment, characterized in that, The device includes: The adjustment module is used to adjust the main boom of the lifting equipment to an initial low position angle when the lifting equipment is in an empty hook and unloaded state, wherein the initial low position angle is less than the expected entry angle of the anti-tilting cylinder. The acquisition module is used to acquire the self-weight torque of the main boom and the force-related parameters during the torque balance calculation of the main boom; The control module is used to control the main boom to lift at a constant speed at the initial low angle, and to determine the actual entry angle of the anti-tilting cylinder in the groove using the force correlation parameters during the lifting process of the main boom at a constant speed. The calibration module is used to control the main boom to continue lifting, and during the lifting process, it calibrates the torque corresponding to the weight of the main boom itself at different angles based on the self-weight torque, the force-related parameters, and the actual entry angle.

9. A computer device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 7.

10. A lifting device, characterized in that, It has a calibration device for the anti-backward tilting angle of the main boom applied to lifting equipment as described in claim 8.

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