Control method and apparatus for counterweight mounting of lifting device, device and storage medium

Abstract

The present application relates to the field of lifting technology, in particular to a control method and apparatus for mounting counterweights on a lifting machine, a device and a storage medium. The control method comprises: controlling a slewing assembly to rotate to a predetermined angle in response to a mounting start instruction; when the slewing assembly has rotated to the predetermined angle, controlling and adjusting a positional relationship between a slewing pin and a locking pin hole, and acquiring a first position signal triggered by the slewing pin. By controlling and adjusting the positional relationship between the slewing pin and the locking pin hole when the slewing assembly has rotated to a predetermined angle and acquiring the first position signal triggered by the slewing pin, and by controlling a counterweight cylinder to perform a mounting action on a counterweight block when the first position signal indicates that the slewing pin has been inserted into the locking pin hole, the mounted counterweight is automatically controlled, with no need of manual lifting based on manual observation, thereby effectively improving efficiency of mounting counterweights, and enhancing safety in mounting counterweights.

Description

Cross Reference to Related Applications

[0001] The present application claims the priority of a Chinese patent application filed on April 9, 2024 with an application number of 202410423209.2 and entitled "Control Method and Apparatus for Mounting Counterweights on Lifting Machine, Device and Storage Medium", the contents of which are incorporated herein by reference in its entirety.Technical Field

[0002] The present application relates to the field of lifting technology, in particular to a control method and apparatus for mounting counterweights on a lifting machine, a device and a storage medium.Background

[0003] For traditional large-tonnage cranes equipped with lifting counterweight cylinders, two operators are generally required for manually mounting counterweights. One operator is responsible for observing positions of the counterweights, while the other is responsible for operating a crane to mount the counterweights. A counterweight cylinder is manually lifted based on manual observation. Improper cooperation between the two operators may lead to damage to the counterweight cylinder or even lead to falling of the counterweights, thereby posing a risk of casualties. This way of mounting counterweights has problems of low efficiency and poor safety.Summary of the Invention

[0004] The present application provides a control method for mounting counterweights on a lifting machine, in order to solve the problems of low efficiency and poor safety in the prior art.

[0005] The present application provides a control method for mounting counterweights on a lifting machine, wherein the lifting machine includes a slewing assembly, a counterweight cylinder, a counterweight block, a slewing pin, and a rotary table locking block provided with a locking pin hole; the control method includes: controlling the slewing assembly to rotate to a predetermined angle in response to a mounting start instruction; when the slewing assembly has rotated to the predetermined angle, controlling and adjusting a positional relationship between the slewing pin and the locking pin hole, and acquiring a first position signal triggered by the slewing pin; and when the first position signal indicates that the slewing pin has been inserted into the locking pin hole, controlling the counterweight cylinder to perform a mounting action on the counterweight block.

[0006] According to the control method for mounting counterweights on a lifting machine provided in the present application, the locking pin hole includes a first locking pin hole, the predetermined angle includes a first predetermined angle, and when the slewing assembly has rotated to the first predetermined angle, the step of controlling and adjusting a positional relationship between the slewing pin and the locking pin hole and acquiring a first position signal triggered by the slewing pin includes: controlling the slewing pin to be inserted into the first locking pin hole, and acquiring the first position signal indicating that the slewing pin has been inserted in place.

[0007] According to the control method for mounting counterweights on a lifting machine provided in the present application, when the slewing assembly has rotated to the first predetermined angle, the step of controlling and adjusting a positional relationship between the slewing pin and the locking pin hole and acquiring a first position signal triggered by the slewing pin includes: controlling the slewing pin to be pulled out from the first locking pin hole, and acquiring the first position signal indicating that the slewing pin has been unlocked.

[0008] According to the control method for mounting counterweights on a lifting machine provided in the present application, the locking pin hole further includes a second locking pin hole, and the predetermined angle further includes a second predetermined angle; and when the slewing assembly has rotated to the second predetermined angle, the step of controlling and adjusting a positional relationship between the slewing pin and the locking pin hole and acquiring a first position signal triggered by the slewing pin includes: controlling the slewing pin to be inserted into the second locking pin hole, and acquiring the first position signal indicating that the slewing pin has been inserted in place.

[0009] According to the control method for mounting counterweights on a lifting machine provided in the present application, the counterweight block is provided with a lowering hole and a lifting hole communicated with the lowering hole; and when the first position signal indicates that the slewing pin has been inserted into the first locking pin hole, the step of controlling the counterweight cylinder to perform a mounting action on the counterweight block includes: controlling the counterweight cylinder to extend, such that the counterweight cylinder is inserted into the lowering hole.

[0010] According to the control method for mounting counterweights on a lifting machine provided in the present application, the step of controlling the counterweight cylinder to perform a mounting action on the counterweight block further includes: acquiring a second position signal indicating that the counterweight cylinder has been inserted into the lowering hole.

[0011] According to the control method for mounting counterweights on a lifting machine provided in the present application, when the first position signal indicates that the slewing pin has been inserted into the second locking pin hole, the step of controlling the counterweight cylinder to perform a mounting action on the counterweight block includes: controlling the counterweight cylinder to retract, such that the counterweight cylinder is engaged into the lifting hole.

[0012] According to the control method for mounting counterweights on a lifting machine provided in the present application, the step of controlling the counterweight cylinder to perform a mounting action on the counterweight block further includes: controlling the counterweight cylinder to lift the counterweight block to a predetermined height.

[0013] The control method for mounting counterweights on a lifting machine provided in the present application further includes: determining whether the lifting machine is in a safe state for automatically mounting the counterweights based on the mounting start instruction that has been received; and controlling the slewing assembly to rotate to a predetermined angle when it is determined that the lifting machine is in the safe state.

[0014] The present application further provides a control apparatus for mounting counterweights on a lifting machine, and the control apparatus includes: a first control module configured to control a slewing assembly to rotate to a predetermined angle in response to a mounting start instruction; a second control module configured to control and adjust a positional relationship between a slewing pin and a locking pin hole when the slewing assembly has rotated to a predetermined angle, and acquire a first position signal triggered by the slewing pin; and a third control module configured to control the counterweight cylinder to perform a mounting action on the counterweight block when the first position signal indicates that the slewing pin has been inserted into the locking pin hole.

[0015] The present application further provides an electronic device, including a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when executing the computer program, the processor implements steps of the control method for mounting counterweights on a lifting machine as mentioned above.

[0016] The present application further provides a non-transitory computer-readable storage medium having a computer program stored therein, wherein when executed by the processor, the computer program causes the processor to implement steps of the control method for mounting counterweights on a lifting machine as mentioned above.

[0017] The present application further provides a lifting machine, including a frame, a slewing assembly, a counterweight cylinder, a slewing pin, a counterweight block and a rotary table locking block, wherein the rotary table locking block, the slewing assembly and the counterweight block are all arranged on the frame, and the counterweight cylinder and the slewing pin are both arranged on the slewing assembly.

[0018] In the control method for mounting counterweights on a lifting machine provided in the present application, by controlling and adjusting a positional relationship between the slewing pin and the locking pin hole when the slewing assembly has rotated to a predetermined angle and acquiring the first position signal triggered by the slewing pin, and by controlling a counterweight cylinder to perform a mounting action on the counterweight block when the first position signal indicates that the slewing pin has been inserted into the locking pin hole, the mounted counterweight is automatically controlled, with no need of manual lifting based on manual observation, thereby effectively improving efficiency of mounting counterweights, and enhancing safety in mounting counterweights.Brief Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the present application or in the prior art, the accompanying drawings that need to be used in the description of the embodiments or in the prior art should be described briefly below, and apparently, the accompanying drawings in the following description are some embodiments of the present application, and for those skilled in the art, other accompanying drawings can be obtained based on these drawings without any creative effort. Fig. 1 is a schematic diagram of a three-dimensional structure of a rotary table locking block provided in the present application; Fig. 2 is a schematic diagram of a top view structure of a rotary table locking block provided in the present application; Fig. 3 is a schematic diagram of a side sectional view made along a section line A-A in Fig. 2; Fig. 4 is a first schematic diagram of a three-dimensional structure of a lifting machine provided in the present application; Fig. 5 is a second schematic diagram of a three-dimensional structure of a lifting machine provided in the present application; Fig. 6 is a third schematic diagram of a three-dimensional structure of a lifting machine provided in the present application; Fig. 7 is a schematic diagram of a three-dimensional structure of a counterweight block provided in the present application; Fig. 8 is one of the flow diagrams of a control method for mounting counterweights on a lifting machine provided in the present application; Fig. 9 is one of the flow diagrams of a control method for mounting counterweights on a lifting machine provided in the present application; Fig. 10 exemplifies a schematic diagram of a physical structure of an electronic device.

[0020] Reference numerals in the figures: 10. locking block body; 11. first locking pin hole; 12. second locking pin hole; 13. first guiding inclined surface; 14. second guiding inclined surface; 20. frame; 30. slewing assembly; 31. slewing mechanism; 32. rotary table; 40. counterweight cylinder; 50. counterweight block; 51. clamping member; 52. lowering hole; 53. lifting hole; 60. slewing pin.Detailed Description

[0021] In order to make the object, technical solutions and advantages of the present application clearer, technical solutions in the present application will be described clearly and completely below in conjunction with the accompanying drawings in the present application. Apparently, the described embodiments are a part but not all of the embodiments in the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without any creative effort fall within the protection scope of the present application.

[0022] Before describing the control method for mounting counterweights on a lifting machine, the specific structure of the lifting machine is described for ease of understanding.

[0023] Fig. 4 exemplifies a first schematic diagram of a three-dimensional structure of a lifting machine provided in the present application, Fig. 5 exemplifies a second schematic diagram of a three-dimensional structure of a lifting machine provided in the present application, and Fig. 6 exemplifies a third schematic diagram of a three-dimensional structure of a lifting machine provided in the present application, as shown in Fig. 4 to Fig. 6, the lifting machine includes a frame 20, a slewing assembly 30, a counterweight cylinder 40, a slewing pin 60, a counterweight block 50, and a rotary table locking block, wherein the rotary table locking block, the slewing assembly 30 and the counterweight block 50 are all arranged on the frame 20, and the counterweight cylinder 40 and the slewing pin 60 are both arranged on the slewing assembly 30.

[0024] As shown in Fig. 4 to Fig. 6, the slewing assembly 30 includes a slewing mechanism 31 and a rotary table 32, wherein the slewing mechanism 31 is rotatably arranged on the frame 20, one end of the rotary table 32 is connected to the slewing mechanism 31, and a counterweight cylinder 40 is arranged at the other end of the rotary table 32, and in this embodiment, two counterweight cylinders 40 are arranged, and the two counterweight cylinders 40 are arranged symmetrically.

[0025] Further, Fig. 7 exemplifies a three-dimensional structural schematic diagram of a counterweight block provided in the present application, as shown in Fig. 7, the counterweight block 50 is provided with a lowering hole 52 and a lifting hole 53, wherein the lowering hole 52 is communicated with the lifting hole 53, the lowering hole 52 and the lifting hole 53 cooperate to form positioning holes for positioning the counterweight cylinder 40, the positioning holes are waist-shaped holes, two positioning holes are formed, and the positions of the two waist-shaped holes are in one-to-one correspondence with the positions of the two counterweight cylinders 40. The counterweight cylinders 40 enter the inside of the waist-shaped holes through the lowering hole 52, and the lifting hole 53 is internally provided with a clamping member 51, and when the counterweight cylinders 40 enter the lifting hole 53, the counterweight cylinders 40 are in snap-fit connection with the clamping member 51, and the mounting of the counterweight block 50 is completed.

[0026] Fig. 1 exemplifies a three-dimensional structural schematic diagram of a rotary table locking block provided in the present application, Fig. 2 exemplifies a schematic diagram of a top view structure of a rotary table locking block provided in the present application, and Fig. 3 is a schematic diagram of a side sectional view made along a section line A-A in Fig. 2. As shown in Fig. 1 to Fig. 3, the rotary table locking block includes a locking block body 10, wherein the locking block body 10 is provided with at least one locking pin hole, the locking pin hole is used for locked engagement with the slewing pin 60, and the locking pin hole for locked engagement with the slewing pin 60 when the counterweight is mounted on the counterweight cylinder 40 is an elliptical hole.

[0027] In an embodiment of the present application, the slewing pin 60 is provided with a first proximity switch (not shown) electrically connected to a control apparatus, and when the slewing pin 60 is inserted into the locking pin hole, the first proximity switch is triggered to output a first position signal which indicates that the slewing pin has been inserted in place. When the slewing pin 60 is pulled out of the locking pin hole, the first proximity switch outputs a first position signal which indicates the unlocking of the slewing pin.

[0028] In an embodiment of the present application, the counterweight cylinder 40 is provided with a second proximity switch (not shown) electrically connected to the control apparatus, and when the counterweight cylinder 40 is inserted into a lowering hole 52, the second proximity switch is triggered to output a second position signal which indicates that the counterweight cylinder has been inserted into the lowering hole 52. The counterweight cylinder 40 is provided with a pressure sensor electrically connected to the control apparatus, and when the counterweight cylinder 40 retracts, the pressure sensor is triggered to output a third position signal which indicates that the counterweight cylinder is engaged into the lifting hole 53, and at this time, the counterweight loading is completed.

[0029] As to the rotary table locking block provided in the present application, by setting the locking pin hole used for locked engagement with the slewing pin 60 when the counterweight cylinder 40 is mounted with counterweights as an elliptical hole, even if the center of gravity of the rotary table 32 is shifted due to the mounting of counterweights, the slewing pin 60 can still normally enter the locking pin hole, thereby shortening the time of mounting counterweights and improving the working efficiency.

[0030] It should be noted herein that one, two, three or more locking pin holes may be arranged, depending on the number of actions performed by the counterweight cylinder 40.

[0031] In an embodiment of the present application, as shown in Fig. 1 to Fig. 3, the locking block body 10 is of a bar-shaped block structure, and the locking block body 10 is fixedly arranged on the frame 20, and the locking block body 10 may be welded to the frame 20, or may be fixed to the frame 20 by bolts, or the locking block body 10 and the frame 20 may be integrally formed. The locking block body 10 is made of a metal material, preferably, the locking block body 10 is made of metallic iron or metallic steel.

[0032] In a specific embodiment of the present application, a length direction of the locking block body 10 is a direction indicated by an arrow X in Fig. 2, and a width direction is a direction indicated by an arrow Y in Fig. 2. The length of the locking block body 10 is 400-500 mm, preferably, the length of the locking block body 10 is 450 mm. The width of the locking block body 10 is 80-120 mm, preferably, the width of the locking block body 10 is 100 mm. The height of the locking block body 10 is 30-50 mm, preferably, the height of the locking block body 10 is 40 mm.

[0033] In an embodiment of the present application, as shown in Fig. 1 to Fig. 3, the locking block body 10 is provided with a first locking pin hole 11 and a second locking pin hole 12, and the first locking pin hole 11 and the second locking pin hole 12 are arranged at intervals along a length direction of the locking block body 10. The first locking pin hole 11 is used for locked engagement with the slewing pin 60 when the rotary table 32 has rotated to a first angle, and at this time, the counterweight cylinder 40 just enters above a first end of the positioning hole.

[0034] In an embodiment of the present application, as shown in Fig. 1 to Fig. 3, the second locking pin hole 12 is an elliptical hole. Since the second locking pin hole 12 is an elliptical hole, in order to conveniently describe a positional relationship between the second locking pin hole 12 and the locking block body 10, a long axis and a short axis of an ellipse are introduced to describe the second locking pin hole 12. The long axis of the second locking pin hole 12 in this embodiment is parallel to a width direction of the locking block body 10, i.e., the long axis of the second locking pin hole 12 is perpendicular to a length direction of the locking block body 10. Of course, the long axis of the second locking pin hole 12 may also form an acute angle with the width direction of the locking block body 10, preferably, the acute angle is less than 30 degrees. By making the long axis of the second locking pin hole 12 form an acute angle with the width direction of the locking block body 10, after the slewing pin 60 enters the second locking pin hole 12, and when the slewing pin 60 moves along the long axis of the second locking pin hole 12, a gap between the slewing pin 60 and an inner wall of the second locking pin hole 12 becomes smaller and smaller, thereby avoiding shaking of the slewing pin 60 in the second locking pin hole 12.

[0035] In a specific embodiment of the present application, the long axis of the second locking pin hole 12 is 70-80 mm, and the short axis of the second locking pin hole 12 is 55-75 mm. The first locking pin hole 11 is a circular hole, and an inner diameter of the first locking pin hole 11 is equal to the short axis of the second locking pin hole 12.

[0036] In an embodiment of the present application, as shown in Fig. 1 and Fig. 3, at least one end of the locking block body 10 is provided with a first guiding inclined surface 13, the first guiding inclined surface 13 is located on a top surface of the locking block body 10, and the first guiding inclined surface 13 is configured to guide the slewing pin 60, such that the slewing pin 60 can reach a top surface of the locking block body 10.

[0037] For the locking block body 10 that is not provided with the first guiding inclined surface 13, due to a greater thickness of the locking block body 10, when an operator uses a manual slewing pin 60, the slewing pin 60 will abut against end faces at both ends of the locking block body 10, to prevent movement of the slewing pin 60, such that the slewing pin 60 cannot reach the top surface of the locking block body 10, and the slewing pin 60 cannot enter the locking pin hole. By arranging the first guiding inclined surface 13 on at least one end of the locking block body 10, the thickness of two ends of the locking block body 10 is reduced. When the manual slewing pin 60 is used or the slewing pin 60 extends into place ahead of time, the slewing pin 60 will abut against the first guiding inclined surface 13, and the slewing pin 60 will slide upwards via the first guiding inclined surface 13, such that the slewing pin 60 can reach the top surface of the locking block body 10 smoothly and eventually slides into the locking pin hole.

[0038] In an embodiment of the present application, as shown in Fig. 1 and Fig. 3, each of the two ends of the locking block body 10 is provided with a first guiding inclined surface 13, the two first guiding inclined surfaces 13 have the same length and width, and the two first guiding inclined surfaces 13 tilt downwards in a direction deviating from each other, i.e., the two first guiding inclined surfaces 13 are arranged symmetrically. Since each of the two ends of the locking block body 10 is provided with a first guiding inclined surface 13, the thickness of the end of the locking block body 10 is reduced, and the slewing pin 60 can reach the top surface of the locking block body 10 smoothly.

[0039] It should be noted herein that the first guiding inclined surface 13 in this embodiment is an inclined plane, but of course the first guiding inclined surface 13 may also be an inclined arc-shaped surface.

[0040] In an embodiment of the present application, included angles formed between the two first guiding inclined surfaces 13 and a bottom surface of the locking block body 10 are equal, i.e., inclination angles of the two first guiding inclined surfaces 13 are the same. By making the inclination angles of the two first guiding inclined surfaces 13 both the same, the two ends of the locking block body 10 are made symmetrical, such that the positions of the first locking pin hole 11 and the second locking pin hole 12 do not need to be considered during processing, and the positions of the first locking pin hole 11 and the second locking pin hole 12 are only considered during a mounting process, thereby simplifying a machining process of the locking block body 10, and improving the production efficiency.

[0041] In an embodiment of the present application, an edge of the locking pin hole is provided with a second guiding inclined surface 14 inclined downwards towards the locking pin hole, and the second guiding inclined surface 14 is arranged to increase an opening size of the locking pin hole to a certain extent, and facilitate the entry of the slewing pin 60 into the locking pin hole.

[0042] In an embodiment of the present application, as shown in Fig. 1 and Fig. 3, an edge of the first locking pin hole 11 and an edge of the second locking pin hole 12 are provided with the second guiding inclined surface 14, and inclination angles of the second guiding inclined surfaces 14 of the first locking pin hole 11 and the second locking pin hole 12 are the same.

[0043] In a preferred embodiment of the present application, a guiding groove (not shown) is arranged at the top of the locking block body 10, the guiding groove is located between the first locking pin hole 11 and the second locking pin hole 12, one end of the guiding groove is communicated with the first locking pin hole 11, the other end of the guiding groove is communicated with the second locking pin hole 12, and the depth of the guiding groove is smaller than the depth of the first locking pin hole 11 and the depth of the second locking pin hole 12. The guiding groove is configured to guide the slewing pin 60 during sliding from the first locking pin hole 11 to the second locking pin hole 12, such that the slewing pin 60 can smoothly enter the second locking pin hole 12.

[0044] The control method for mounting counterweights on a lifting machine of the present application is described below in conjunction with Fig. 8 to Fig. 9.

[0045] The lifting machine includes a slewing assembly 30, a counterweight cylinder 40, a counterweight block 50, a slewing pin 60, and a rotary table locking block provided with a locking pin hole, and the control method for mounting counterweights on a lifting machine includes: Step S100, controlling the slewing assembly 30 to rotate to a predetermined angle in response to a mounting start instruction; Step S200, when the slewing assembly 30 has rotated to a predetermined angle, controlling and adjusting a positional relationship between the slewing pin 60 and the locking pin hole, and acquiring a first position signal triggered by the slewing pin 60; and Step S300, when the first position signal indicates that the slewing pin 60 has been inserted into the locking pin hole, controlling the counterweight cylinder 40 to perform a mounting action on the counterweight block 50.

[0046] In the control method for mounting counterweights on a lifting machine provided in the present application, by controlling and adjusting a positional relationship between the slewing pin 60 and the locking pin hole when the slewing assembly 30 has rotated to a predetermined angle and acquiring the first position signal triggered by the slewing pin 60, and by controlling a counterweight cylinder 40 to perform a mounting action on the counterweight block 50 when the first position signal indicates that the slewing pin 60 has been inserted into the locking pin hole, the mounted counterweight is automatically controlled, with no need of manual lifting based on manual observation, thereby effectively improving efficiency of mounting counterweights, and enhancing safety in mounting counterweights.

[0047] In an embodiment of the present application, the locking pin hole includes a first locking pin hole 11, the predetermined angle includes a first predetermined angle, and when the slewing assembly 30 has rotated to a first predetermined angle, the step of controlling and adjusting a positional relationship between the slewing pin 60 and the locking pin hole and acquiring a first position signal triggered by the slewing pin 60 includes: controlling the slewing pin 60 to be inserted into the first locking pin hole 11, and acquiring a first position signal indicating that the slewing pin 60 has been inserted in place.

[0048] When the slewing assembly 30 has rotated to a first predetermined angle, the slewing pin 60 is located above the first locking pin hole 11, and the control apparatus controls the slewing pin 60 to be inserted into the first locking pin hole 11, and when the slewing pin 60 has been inserted in place, the first proximity switch is triggered to output a first position signal indicating that the slewing pin 60 has been inserted in place. The control apparatus acquires a first position signal indicating that the slewing pin 60 has been inserted in place. When it is determined that the slewing pin 60 has been inserted in place, the control apparatus controls the counterweight cylinder 40 to extend, otherwise, the control apparatus controls the lifting machine to stop working, to prevent the occurrence of safety accidents. When the slewing pin 60 is inserted into the first locking pin hole 11, rotation of the rotary table 32 can be avoided, thereby enhancing safety in mounting counterweights on a lifting machine.

[0049] In an embodiment of the present application, when the slewing assembly 30 has rotated to a first predetermined angle, the step of controlling and adjusting a positional relationship between the slewing pin 60 and the locking pin hole and acquiring a first position signal triggered by the slewing pin 60 includes: controlling the slewing pin 60 to be pulled out from the first locking pin hole 11, and acquiring a first position signal indicating that the slewing pin 60 has been unlocked.

[0050] The control apparatus controls the slewing pin 60 to be pulled out from the first locking pin hole 11, and after the slewing pin 60 is pulled out from the first locking pin hole 11, the first proximity switch is triggered to output a first position signal which indicates the unlocking of the slewing pin 60, and after the control apparatus acquires a first position signal indicating that the slewing pin 60 has been unlocked, it is determined that the slewing pin 60 has completed unlocking, and the control apparatus controls the rotary table 32 to rotate to a second predetermined angle.

[0051] In an embodiment of the present application, the locking pin hole further includes a second locking pin hole 12, and the predetermined angle further includes a second predetermined angle; when the slewing assembly 30 has rotated to the second predetermined angle, the step of controlling and adjusting a positional relationship between the slewing pin 60 and the locking pin hole and acquiring a first position signal triggered by the slewing pin 60 includes: controlling the slewing pin 60 to be inserted into the second locking pin hole 12, and acquiring a first position signal indicating that the slewing pin 60 has been inserted in place.

[0052] When the slewing assembly 30 has rotated to a second predetermined angle, the slewing pin 60 is located above the second locking pin hole 12, the control apparatus controls the slewing pin 60 to be inserted into the second locking pin hole 12, and when the slewing pin 60 has been inserted in place, the first proximity switch is triggered to output a first position signal indicating that the slewing pin 60 has been inserted in place, the control apparatus acquires a first position signal indicating that the slewing pin 60 has been inserted in place, and determines that the slewing pin 60 has been inserted in place, and the control apparatus controls the counterweight cylinder 40 to retract, otherwise, the control apparatus controls the lifting machine to stop working, so as to prevent accidents.

[0053] It should be noted herein that the first predetermined angle and the second predetermined angle of different device models may be the same or different, and the first predetermined angle and the second predetermined angle are determined specifically according to device models.

[0054] In an embodiment of the present application, the counterweight block 50 is provided with a lowering hole 52 and a lifting hole 53 communicated with the lowering hole 52; and the step of controlling the counterweight cylinder 40 to perform a mounting action on the counterweight block 50 when the first position signal indicates that the slewing pin 60 has been inserted into the first locking pin hole 11 includes: controlling the counterweight cylinder 40 to extend, such that the counterweight cylinder 40 is inserted into the lowering hole 52.

[0055] When the slewing pin 60 is inserted into the first locking pin hole 11, the counterweight cylinder 40 is located above the lowering hole 52, and when the first position signal indicates that the slewing pin 60 is inserted into the first locking pin hole 11, the control apparatus controls the counterweight cylinder 40 to extend, and the counterweight cylinder 40 is inserted into the lowering hole 52.

[0056] In an embodiment of the present application, the step of controlling the counterweight cylinder 40 to perform a mounting action on the counterweight block 50 further includes: acquiring a second position signal indicating that the counterweight cylinder 40 has been inserted into the lowering hole 52.

[0057] When the counterweight cylinder 40 has been inserted into the lowering hole 52, the second proximity switch is triggered to output a second position signal indicating that the counterweight cylinder 40 has been inserted into the lowering hole 52. The control apparatus acquires a second position signal indicating that the counterweight cylinder 40 has been inserted into the lowering hole 52, and determines whether the counterweight cylinder 40 is inserted into the lowering hole 52 according to the second position signal. When it is determined that the counterweight cylinder 40 has been inserted into the lowering hole 52, the control apparatus controls the slewing pin 60 to be pulled out from the first locking pin hole 11; and when it is determined that the counterweight cylinder 40 has not been inserted into the lowering hole 52, the control apparatus controls the lifting machine to stop working.

[0058] In an embodiment of the present application, when the first position signal indicates that the slewing pin 60 has been inserted into the second locking pin hole 12, the step of controlling the counterweight cylinder 40 to perform a mounting action on the counterweight block 50 includes: controlling the counterweight cylinder 40 to retract, such that the counterweight cylinder 40 is engaged into the lifting hole 53; and controlling the counterweight cylinder 40 to retract, such that the counterweight cylinder 40 enters the lifting hole 53, and the counterweight cylinder 40 is in snap-fit engagement with the clamping member 51. When the counterweight cylinder 40 is controlled to retract, the counterweight cylinder 40 is subjected to a greater pressure, a pressure sensor is triggered to output a third position signal which indicates that the counterweight cylinder 40 is engaged into the lifting hole 53, and the control apparatus acquires the third position signal which indicates that the counterweight cylinder 40 is engaged into the lifting hole 53, and determines that the counterweight cylinder 40 is properly engaged with the clamping member 51.

[0059] In an embodiment of the present application, the step of controlling the counterweight cylinder 40 to perform a mounting action on the counterweight block 50 further includes: controlling the counterweight cylinder 40 to lift the counterweight block 50 to a predetermined height.

[0060] The step of controlling the counterweight cylinder 40 to lift the counterweight block 50 to a predetermined height can be performed after determining that the counterweight cylinder 40 is in snap-fit engagement with the clamping member 51, and the specific value of the predetermined height is determined according to actual needs.

[0061] In an embodiment of the present application, the control method for mounting counterweights on a lifting machine further includes: determining whether the lifting machine is in a safe state for automatically mounting the counterweights based on the mounting start instruction that has been received; and controlling the slewing assembly 30 to rotate to a predetermined angle when it is determined that the lifting machine is in the safe state.

[0062] Before controlling the slewing assembly 30 to rotate to a predetermined angle, whether the lifting machine is in a safe state for automatically mounting the counterweights is firstly determined, so as to prevent safety accidents during the process of mounting counterweights. Specifically, to determine whether the lifting machine is in a safe state for automatically mounting counterweights, one of the following conditions needs to be satisfied at the same time: 1. An angle of a lifting arm of the lifting machine is greater than a first specified angle and less than a second specified angle; 2. a length of the lifting arm is less than a first specified length; 3. a lifting hook is located within a specified height range; 4. a slewing angle of the rotary table 32 is within a predetermined angle range (within the angle range, the slewing pin 60 is located above the rotary table locking block; and an error between an angle value output by a high-precision slewing angle detection apparatus engaged with the rotary table 32 and an angle value output by a detection apparatus at the center of the rotary table 32 is less than a specific value); 5. the counterweight cylinder 40 retracts into place; and 6. the slewing pin 60 is in an unlocked state.

[0063] It needs to be noted herein that the above several safety determination conditions need to be satisfied simultaneously before performing the step of controlling the slewing assembly 30 to rotate to a first predetermined angle, and as long as any of the above determination conditions is not satisfied, a human-machine interface prompts a reason of failure in starting.

[0064] It also needs to be noted herein that the judgement conditions for determining whether the lifting machine is in a safe state for automatically mounting the counterweights are not limited to the above cases, but may also include other judgement conditions.

[0065] In an embodiment of the present application, the control method for mounting counterweights on a lifting machine further includes: controlling the slewing assembly 30 to rotate to a second predetermined angle when the first position signal indicates that the slewing pin 60 is pulled out from the locking pin hole.

[0066] Before performing the step of controlling the slewing assembly 30 to rotate to a second predetermined angle, it is determined that the slewing pin 60 is pulled out from the locking pin hole by the first position signal, thereby preventing the slewing pin 60 from being damaged due to rotation of the rotary table 32, and enhancing safety of the lifting machine.

[0067] A specific embodiment of the present application is described below, wherein the control method for mounting counterweights on a lifting machine includes: determining whether the lifting machine is in a safe state for automatically mounting the counterweights based on a mounting start instruction that has been received; controlling the slewing assembly 30 to rotate to a first predetermined angle when it is determined that the lifting machine is in the safe state; controlling the slewing pin 60 to be inserted into the first locking pin hole 11, and acquiring a first position signal indicating that the slewing pin 60 has been inserted in place; controlling the counterweight cylinder 40 to extend, such that the counterweight cylinder 40 is inserted into the lowering hole 52; acquiring a second position signal indicating that the counterweight cylinder 40 has been inserted into the lowering hole 52; controlling the slewing pin 60 to be pulled out from the first locking pin hole 11, and acquiring a first position signal indicating that the slewing pin 60 has been unlocked; controlling the slewing assembly 30 to rotate to a second predetermined angle when the first position signal indicates that the slewing pin 60 is pulled out from the first locking pin hole 11; controlling the slewing pin 60 to be inserted into the second locking pin hole 12, and acquiring a first position signal indicating that the slewing pin 60 has been inserted in place; controlling the counterweight cylinder 40 to retract, such that the counterweight cylinder 40 is engaged into the lifting hole 53; and controlling the counterweight cylinder 40 to lift the counterweight block 50 to a predetermined height, and completing the mounting of the counterweight block 50.

[0068] A specific embodiment of the present application is described below in conjunction with Fig. 9. As shown in Fig. 9, the control method for mounting counterweights on a lifting machine includes: determining whether the lifting machine is in a safe state for automatically mounting the counterweights based on the mounting start instruction that has been received; controlling the slewing assembly 30 to rotate to a first predetermined angle when it is determined that the lifting machine is in the safe state; otherwise, the lifting machine stops working; controlling the slewing pin 60 to be inserted into the first locking pin hole 11, and determining whether a first position signal which indicates that the slewing pin 60 has been inserted in place is received; controlling the counterweight cylinder 40 to extend when determining the receipt of a first position signal which indicates that the slewing pin 60 has been inserted in place, such that the counterweight cylinder 40 is inserted into the lowering hole 52; otherwise, the lifting machine stops working; determining whether a second position signal which indicates that the counterweight cylinder 40 has been inserted into the lowering hole 52 is received; when determining the receipt of the second position signal, controlling the slewing pin 60 to be pulled out from the first locking pin hole 11; otherwise, the lifting machine stops working; determining whether a first position signal which indicates the unlocking of the slewing pin 60 is received; controlling the slewing assembly 30 to rotate to a second predetermined angle when determining the receipt of a first position signal which indicates that the slewing pin 60 is pulled out from the first locking pin hole 11; otherwise, the lifting machine stops working; controlling the slewing pin 60 to be inserted into the second locking pin hole 12, and determining whether a first position signal indicating that the slewing pin 60 has been inserted in place is received; controlling the counterweight cylinder 40 to retract when determining the receipt of the first position signal, such that the counterweight cylinder 40 is engaged into the lifting hole 53; otherwise, the lifting machine stops working. determining whether a third position signal indicating that the counterweight cylinder 40 is engaged into the lifting hole 53 is received; and upon receipt of the third position signal which indicates that the counterweight cylinder 40 is engaged into the lifting hole 53, completing the mounting of the counterweight block 50; otherwise, the lifting machine stops working.

[0069] The present application also provides a control apparatus for mounting counterweights on a lifting machine, including: a first control module configured to control a slewing assembly 30 to rotate to a predetermined angle in response to a mounting start instruction; a second control module configured to control and adjust a positional relationship between the slewing pin 60 and the locking pin hole when the slewing assembly 30 has rotated to a predetermined angle, and acquire a first position signal triggered by the slewing pin 60; and a third control module configured to control the counterweight cylinder 40 to perform a mounting action on the counterweight block 50 when the first position signal indicates that the slewing pin 60 has been inserted into the locking pin hole.

[0070] The present application also provides an electronic device, and Fig. 10 exemplifies a schematic diagram of a physical structure of an electronic device, as shown in Fig. 10, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 complete communication with each other via the communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform a control method for mounting counterweights on a lifting machine, and the method includes: Step S100, controlling the slewing assembly 30 to rotate to a predetermined angle in response to a mounting start instruction; Step S200, when the slewing assembly 30 has rotated to a predetermined angle, controlling and adjusting a positional relationship between the slewing pin 60 and the locking pin hole, and acquiring a first position signal triggered by the slewing pin 60; and Step S300, when the first position signal indicates that the slewing pin 60 has been inserted into the locking pin hole, controlling the counterweight cylinder 40 to perform a mounting action on the counterweight block 50.

[0071] In addition, logic instructions in the above memory 830 may be stored in a computer-readable storage medium when implemented in the form of a software function unit and sold or used as a stand-alone product. Based on this understanding, the essence of the technical solution of the present application, or the part that contributes to the prior art, or a part of this technical solution can be presented in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions to allow a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in various embodiments of the present application. The above storage medium includes a USB flash drive, a removable hard disk, a read-only memory (ROM), a random-access memory (RAM), a magnetic disk, or a compact disk, and other media that can store program codes.

[0072] On the other hand, the present application also provides a computer program product. The computer program product includes a computer program stored in a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can perform the control method for mounting counterweights on a lifting machine provided in each of the above methods, and the method includes: Step S100, controlling the slewing assembly 30 to rotate to a predetermined angle in response to a mounting start instruction; Step S200, when the slewing assembly 30 has rotated to a predetermined angle, controlling and adjusting a positional relationship between the slewing pin 60 and the locking pin hole, and acquiring a first position signal triggered by the slewing pin 60; and Step S300, when the first position signal indicates that the slewing pin 60 has been inserted into the locking pin hole, controlling the counterweight cylinder 40 to perform a mounting action on the counterweight block 50.

[0073] In a further aspect, the present application also provides a non-transitory computer-readable storage medium having a computer program stored therein, and when executed by a processor, the computer program causes the processor to perform the control method for mounting counterweights on a lifting machine provided in each of the above items, and the method includes: Step S100, controlling the slewing assembly 30 to rotate to a predetermined angle in response to a mounting start instruction; Step S200, when the slewing assembly 30 has rotated to a predetermined angle, controlling and adjusting a positional relationship between the slewing pin 60 and the locking pin hole, and acquiring a first position signal triggered by the slewing pin 60; and Step S300, when the first position signal indicates that the slewing pin 60 has been inserted into the locking pin hole, controlling the counterweight cylinder 40 to perform a mounting action on the counterweight block 50.

[0074] The apparatus embodiments described above are merely schematic, wherein units illustrated as separate components may be or may not be physically separated, and components shown as units may be or may not be physical units, i.e., they may be located in one place or may also be distributed over a plurality of network units. Some or all of these modules may be selected to achieve the purpose of the solution of the embodiment according to actual needs. Those skilled in the art can understand and implement the technical solutions without any creative effort.

[0075] Through the above description of the embodiments, those skilled in the art can clearly understand that embodiments can be implemented by means of software combined with a necessary general hardware platform, and of course can also be implemented via hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as an ROM / RAM, a magnetic disk, or a compact disk, and includes a number of instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in various embodiments or some portion of the embodiments.

[0076] Finally, it should be noted that the above embodiments are merely used to illustrate the technical solutions of the present application, rather than limiting the technical solutions of the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in each foregoing embodiment may be modified, or some of the technical features therein may be substituted equivalently; while these modifications or substitutions do not cause the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of various embodiments of the present application.

Claims

1. A control method for mounting counterweights on a lifting machine, wherein the lifting machine comprises a slewing assembly (30), a counterweight cylinder (40), a counterweight block (50), a slewing pin (60), and a rotary table (32) locking block provided with a locking pin hole; the control method comprises: controlling the slewing assembly (30) to rotate to a predetermined angle in response to a mounting start instruction; when the slewing assembly (30) has rotated to the predetermined angle, controlling and adjusting a positional relationship between the slewing pin (60) and the locking pin hole, and acquiring a first position signal triggered by the slewing pin (60); and when the first position signal indicates that the slewing pin (60) has been inserted into the locking pin hole, controlling the counterweight cylinder (40) to perform a mounting action on the counterweight block (50).

2. The control method for mounting counterweights on a lifting machine according to claim 1, wherein the locking pin hole comprises a first locking pin hole (11), the predetermined angle comprises a first predetermined angle, and when the slewing assembly (30) has rotated to the first predetermined angle, the step of controlling and adjusting a positional relationship between the slewing pin (60) and the locking pin hole and acquiring a first position signal triggered by the slewing pin (60) comprises: controlling the slewing pin (60) to be inserted into the first locking pin hole (11), and acquiring the first position signal indicating that the slewing pin (60) has been inserted in place.

3. The control method for mounting counterweights on a lifting machine according to claim 2, wherein when the slewing assembly (30) has rotated to the first predetermined angle, the step of controlling and adjusting a positional relationship between the slewing pin (60) and the locking pin hole and acquiring a first position signal triggered by the slewing pin (60) comprises: controlling the slewing pin (60) to be pulled out from the first locking pin hole (11), and acquiring the first position signal indicating that the slewing pin (60) has been unlocked.

4. The control method for mounting counterweights on a lifting machine according to claim 2, wherein the locking pin hole further comprises a second locking pin hole (12), and the predetermined angle further comprises a second predetermined angle; and when the slewing assembly (30) has rotated to the second predetermined angle, the step of controlling and adjusting a positional relationship between the slewing pin (60) and the locking pin hole and acquiring a first position signal triggered by the slewing pin (60) comprises: controlling the slewing pin (60) to be inserted into the second locking pin hole (12), and acquiring the first position signal indicating that the slewing pin (60) has been inserted in place.

5. The control method for mounting counterweights on a lifting machine according to claim 4, wherein the counterweight block (50) is provided with a lowering hole (52) and a lifting hole (53) communicated with the lowering hole (52); and when the first position signal indicates that the slewing pin (60) has been inserted into the first locking pin hole (11), the step of controlling the counterweight cylinder (40) to perform a mounting action on the counterweight block ( 50) comprises: controlling the counterweight cylinder (40) to extend, such that the counterweight cylinder (40) is inserted into the lowering hole (52).

6. The control method for mounting counterweights on a lifting machine according to claim 5, wherein the step of controlling the counterweight cylinder (40) to perform a mounting action on the counterweight block (50) further comprises: acquiring a second position signal indicating that the counterweight cylinder (40) has been inserted into the lowering hole (52).

7. The control method for mounting counterweights on a lifting machine according to claim 5, wherein when the first position signal indicates that the slewing pin (60) has been inserted into the second locking pin hole (12), the step of controlling the counterweight cylinder (40) to perform a mounting action on the counterweight block (50) comprises: controlling the counterweight cylinder (40) to retract, such that the counterweight cylinder (40) is engaged into the lifting hole (53).

8. The control method for mounting counterweights on a lifting machine according to claim 7, wherein the step of controlling the counterweight cylinder (40) to perform a mounting action on the counterweight block (50) further comprises: controlling the counterweight cylinder (40) to lift the counterweight block (50) to a predetermined height.

9. The control method for mounting counterweights on a lifting machine according to any one of claims 1 to 4, further comprising: determining whether the lifting machine is in a safe state for automatically mounting the counterweight based on the mounting start instruction that has been received; and controlling the slewing assembly (30) to rotate to the predetermined angle when it is determined that the lifting machine is in the safe state.

10. A control apparatus for mounting counterweights on a lifting machine, comprising: a first control module configured to control a slewing assembly (30) to rotate to a predetermined angle in response to a mounting start instruction; a second control module configured to control and adjust a positional relationship between a slewing pin (60) and a locking pin hole when the slewing assembly (30) has rotated to the predetermined angle, and acquire a first position signal triggered by the slewing pin (60); and a third control module configured to control a counterweight cylinder (40) to perform a mounting action on a counterweight block (50) when the first position signal indicates that the slewing pin (60) has been inserted into the locking pin hole.

11. An electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein, when executing the computer program, the processor implements steps of the control method for mounting counterweights on a lifting machine of any one of claims 1 to 9.

12. A non-transitory computer-readable storage medium having a computer program stored therein, wherein when executed by a processor, the computer program causes the processor to implement steps of the control method for mounting counterweights on a lifting machine of any one of claims 1 to 9.

13. A lifting machine, comprising a frame (20), a slewing assembly (30), a counterweight cylinder (40), a slewing pin (60), a counterweight block (50) and a rotary table locking block, wherein the rotary table locking block, the slewing assembly (30) and the counterweight block (50) are all arranged on the frame (20), and the counterweight cylinder (40) and the slewing pin (60) are both arranged on the slewing assembly (30).

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