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

Abstract

A control method and apparatus for counterweight mounting of a lifting device, a device and a storage medium, relating to the technical field of lifting. The control method comprises: in response to a mounting start instruction, controlling a rotation assembly (30) to rotate to a predetermined angle; and, when the rotation assembly rotates to the predetermined angle, controlling and adjusting the positional relationship between a rotation lock pin (60) and a pin locking hole, and acquiring a first position signal triggered by the rotation lock pin. When the rotation assembly rotates to the predetermined angle, the positional relationship between the rotation lock pin and the pin locking hole is controlled and adjusted, and the first position signal triggered by the rotation lock pin is acquired; and, when the first position signal represents that the rotation lock pin is inserted into the pin locking hole, a counterweight oil cylinder (40) is controlled to execute a mounting action on a counterweight block (50), thus achieving automated control of counterweight mounting without human observation and manual operation lifting, effectively improving counterweight mounting efficiency, and improving the safety of counterweight mounting.

Description

Control method, device and equipment for mounting counterweight on hoisting equipment, and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese Patent Application No. 202410423209.2, filed on April 9, 2024, entitled "Control method, device and equipment for mounting counterweight on hoisting equipment, and storage medium", which is incorporated by reference herein in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of hoisting, and in particular to a control method, device and equipment for mounting counterweight on hoisting equipment, and a storage medium. BACKGROUND

[0004] For a large-tonnage hoisting machine equipped with a lifting counterweight cylinder, two operators are generally required for manual installation of the counterweight, one responsible for observing the position of the counterweight and the other responsible for operating the hoisting machine to install the counterweight. The lifting of the counterweight cylinder is manually observed and lifted. If the two operators do not coordinate properly, the counterweight cylinder may be damaged, and even the counterweight may fall, causing personnel injury hazards. This counterweight mounting method has the problems of low efficiency and poor safety.

[0005] SUMMARY

[0006] The present application provides a control method for mounting counterweight on hoisting equipment to solve the problem of low efficiency and poor safety in the prior art.

[0007] The present application provides a control method for mounting counterweight on hoisting equipment, wherein the hoisting equipment comprises a slewing assembly, a counterweight cylinder, a counterweight block, a slewing pin and a turntable locking block provided with a locking hole.

[0008] The control method comprises:

[0009] In response to a mounting start instruction, the slewing assembly is controlled to rotate to a predetermined angle.

[0010] In the case where the slewing assembly rotates to a predetermined angle, the position relationship between the slewing pin and the locking hole is adjusted, and a first position signal triggered by the slewing pin is acquired.

[0011] In the case where the first position signal indicates that the slewing pin is inserted into the locking hole, the counterweight cylinder is controlled to perform a mounting action on the counterweight block.

[0012] According to the control method for mounting counterweight of the hoisting equipment provided in the application, the locking pin hole comprises a first locking pin hole, the predetermined angle comprises a first predetermined angle, in the case that the slewing assembly is rotated to the first predetermined angle, the control adjusts the positional relationship between the slewing pin and the locking pin hole, and the first position signal triggered by the slewing pin is acquired, which comprises:

[0013] The slewing pin is controlled to be inserted into the first locking pin hole, and the first position signal representing that the slewing pin is inserted into position is acquired.

[0014] According to the control method for mounting counterweight of the hoisting equipment provided in the application, in the case that the slewing assembly is rotated to the first predetermined angle, the control adjusts the positional relationship between the slewing pin and the locking pin hole, and the first position signal triggered by the slewing pin is acquired, which comprises:

[0015] The slewing pin is controlled to be pulled out of the first locking pin hole, and the first position signal representing that the slewing pin is unlocked is acquired.

[0016] According to the control method for mounting counterweight of the hoisting equipment provided in the application, the locking pin hole further comprises a second locking pin hole, and the predetermined angle further comprises a second predetermined angle; in the case that the slewing assembly is rotated to the second predetermined angle, the control adjusts the positional relationship between the slewing pin and the locking pin hole, and the first position signal triggered by the slewing pin is acquired, which comprises:

[0017] The slewing pin is controlled to be inserted into the second locking pin hole, and the first position signal representing that the slewing pin is inserted into position is acquired.

[0018] According to the control method for mounting counterweight of the hoisting equipment provided in the application, the counterweight block is provided with a lowering hole and a lifting hole in communication with the lowering hole; in the case that the first position signal represents that the slewing pin is inserted into the first locking pin hole, the control of the counterweight cylinder performing mounting action on the counterweight block comprises:

[0019] The counterweight cylinder is controlled to be extended so as to be inserted into the lowering hole.

[0020] According to the control method for mounting counterweight of the hoisting equipment provided in the application, the step of controlling the counterweight cylinder to perform mounting action on the counterweight block further comprises:

[0021] A second position signal representing that the counterweight cylinder is inserted into the lowering hole is acquired.

[0022] According to the control method for mounting counterweight of the hoisting equipment provided in the application, when the first position signal indicates that the slewing latch is inserted into the second locking pin hole, the control of the counterweight cylinder to perform the mounting action on the counterweight block comprises:

[0023] The counterweight cylinder is controlled to retract so as to be clamped into the lifting hole.

[0024] According to the control method for mounting counterweight of the hoisting equipment provided in the application, the step of controlling the counterweight cylinder to perform the mounting action on the counterweight block further comprises:

[0025] The counterweight cylinder is controlled to lift the counterweight block to a predetermined height.

[0026] According to the control method for mounting counterweight of the hoisting equipment provided in the application, further comprising:

[0027] Based on the received mounting start instruction, it is determined whether the hoisting equipment is in a safe state in which the counterweight can be automatically mounted;

[0028] When it is determined that the hoisting equipment is in the safe state, the slewing assembly is controlled to rotate to a predetermined angle.

[0029] The application further provides a control device for mounting counterweight of a hoisting equipment, comprising:

[0030] A first control module is configured to control the slewing assembly to rotate to a predetermined angle in response to a mounting start instruction;

[0031] A second control module is configured to control the position relationship between the slewing latch and the locking pin hole to be adjusted and obtain a first position signal triggered by the slewing latch when the slewing assembly rotates to the predetermined angle;

[0032] A third control module is configured to control the counterweight cylinder to perform the mounting action on the counterweight block when the first position signal indicates that the slewing latch is inserted into the locking pin hole.

[0033] The application further provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the control method for mounting counterweight of the hoisting equipment as described above.

[0034] The application further provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program is executable on a processor to implement the steps of the control method for mounting counterweight of the hoisting equipment as described above.

[0035] The application further provides a hoisting device, comprising a vehicle frame, a slewing assembly, a counterweight oil cylinder, a slewing bolt, a counterweight block and a turntable locking block, the turntable locking block, the slewing assembly and the counterweight block are arranged on the vehicle frame, and the counterweight oil cylinder and the slewing bolt are arranged on the slewing assembly.

[0036] The application provides a control method for mounting a counterweight of a hoisting device, which comprises the following steps: in the case that the slewing assembly is rotated to a predetermined angle, the position relationship between the slewing bolt and the locking hole is controlled and adjusted, and a first position signal triggered by the slewing bolt is acquired; in the case that the first position signal represents that the slewing bolt is inserted into the locking hole, the counterweight oil cylinder is controlled to perform a mounting action on the counterweight block, so as to realize automatic control of mounting the counterweight, manual observation and lifting are not needed, the efficiency of mounting the counterweight is effectively improved, and the safety of mounting the counterweight is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0038] Fig. 1 is a perspective structural schematic view of a turntable locking block provided by the application;

[0039] Fig. 2 is a top view structural schematic view of the turntable locking block provided by the application;

[0040] Fig. 3 is a side view structural schematic view along the section line A-A in Fig. 2;

[0041] Fig. 4 is a perspective structural schematic view of a hoisting device provided by the application;

[0042] Fig. 5 is another perspective structural schematic view of the hoisting device provided by the application;

[0043] Fig. 6 is a third perspective structural schematic view of the hoisting device provided by the application;

[0044] Fig. 7 is a perspective structural schematic view of a counterweight block provided by the application;

[0045] Fig. 8 is a flow schematic view of a control method for mounting a counterweight of a hoisting device provided by the application;

[0046] Fig. 9 is a flow schematic view of the control method for mounting a counterweight of a hoisting device provided by the application;

[0047] Fig. 10 shows an entity structural schematic view of an electronic device.

[0048] Reference signs:

[0049] 10, locking block body; 11, first locking pin hole; 12, second locking pin hole; 13, first guide slope; 14, second guide slope; 20, vehicle frame; 30, slewing assembly; 31, slewing mechanism; 32, rotary table; 40, counterweight oil cylinder; 50, counterweight block; 51, clamping piece; 52, lowering hole; 53, lifting hole; 60, slewing bolt. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0051] Before describing the control method for mounting counterweights by the hoisting equipment, the specific structure of the hoisting equipment will be introduced first for the convenience of understanding.

[0052] Fig. 4 illustrates one of the schematic diagrams of the three-dimensional structure of the hoisting equipment provided by the present application, Fig. 5 illustrates another of the schematic diagrams of the three-dimensional structure of the hoisting equipment provided by the present application, and Fig. 6 illustrates a third of the schematic diagrams of the three-dimensional structure of the hoisting equipment provided by the present application. As shown in Figs. 4 to 6, the hoisting equipment comprises a vehicle frame 20, a slewing assembly 30, a counterweight oil cylinder 40, a slewing bolt 60, a counterweight block 50 and a rotary table locking block. The rotary table locking block, the slewing assembly 30 and the counterweight block 50 are all arranged on the vehicle frame 20, and the counterweight oil cylinder 40 and the slewing bolt 60 are both arranged on the slewing assembly 30.

[0053] As shown in Figs. 4 to 6, the slewing assembly 30 comprises a slewing mechanism 31 and a rotary table 32. The slewing mechanism 31 is rotatably arranged on the vehicle frame 20. One end of the rotary table 32 is connected with the slewing mechanism 31, and the counterweight oil cylinder 40 is arranged at the other end of the rotary table 32. In the present embodiment, two counterweight oil cylinders 40 are arranged, and the two counterweight oil cylinders 40 are symmetrically arranged.

[0054] Further, Fig. 7 illustrates a schematic diagram of the three-dimensional structure of the counterweight block provided by the present application. As shown in Fig. 7, the counterweight block 50 is provided with a lowering hole 52 and a lifting hole 53. The lowering hole 52 and the lifting hole 53 are communicated. The lowering hole 52 and the lifting hole 53 cooperatively constitute a positioning hole for positioning the counterweight oil cylinder 40. The positioning hole is a waist-shaped hole. The positioning hole is provided with two waist-shaped holes. The positions of the two waist-shaped holes correspond to the positions of the two counterweight oil cylinders 40 one by one. The counterweight oil cylinder 40 enters the inside of the waist-shaped hole through the lowering hole 52. The clamping piece 51 is arranged in the lifting hole 53. When the counterweight oil cylinder 40 enters the lifting hole 53, the counterweight oil cylinder 40 is clamped and cooperated with the clamping piece 51. The counterweight block 50 is installed.

[0055] Fig. 1 illustrates a perspective structural schematic diagram of the turntable locking block provided by the present application, Fig. 2 illustrates a top view structural schematic diagram of the turntable locking block provided by the present application, and Fig. 3 is a side view structural schematic diagram along the section line A-A in Fig. 2. As shown in Figs. 1-3, the turntable locking block comprises a locking block body 10, which is provided with at least one locking pin hole for locking cooperation with the slewing pin 60. The locking pin hole for locking cooperation with the slewing pin 60 when the counterweight oil cylinder 40 is mounted with the counterweight is an oval hole.

[0056] In an embodiment of the present application, the slewing pin 60 is provided with a first proximity switch (not shown) electrically connected with the control device. When the slewing pin 60 is inserted into the locking pin hole, the first proximity switch is triggered to output a first position signal for representing that the slewing pin is inserted into position. When the slewing pin 60 is pulled out of the locking pin hole, the first proximity switch outputs the first position signal for representing that the slewing pin is unlocked.

[0057] In an embodiment of the present application, the counterweight oil cylinder 40 is provided with a second proximity switch (not shown) electrically connected with the control device. When the counterweight oil cylinder 40 is inserted into the lowering hole 52, the second proximity switch is triggered to output a second position signal for representing that the counterweight oil cylinder is inserted into the lowering hole 52. The counterweight oil cylinder 40 is provided with a pressure sensor electrically connected with the control device. When the counterweight oil cylinder 40 is retracted, the pressure sensor is triggered to output a third position signal for representing that the counterweight oil cylinder is stuck in the lifting hole 53, at which time the counterweight is mounted.

[0058] The turntable locking block provided by the present application sets the locking pin hole for locking cooperation with the slewing pin 60 when the counterweight oil cylinder 40 is mounted with the counterweight as an oval hole. Even if the center of gravity of the turntable 32 is offset due to the mounting of the counterweight, the slewing pin 60 can still normally enter the locking pin hole, which shortens the mounting time of the counterweight and improves work efficiency.

[0059] It should be noted here that the locking pin hole can be one, two, three or more, which is determined according to the number of actions performed by the counterweight oil cylinder 40.

[0060] In an embodiment of the present application, as shown in Figs. 1-3, the locking block body 10 is in a strip-shaped block structure, which is fixedly arranged on the vehicle frame 20. The locking block body 10 can be welded on the vehicle frame 20, or fixed on the vehicle frame 20 through bolts, or integrally formed with the vehicle frame 20. The material of the locking block body 10 is metal material, preferably metal iron or metal steel.

[0061] In one embodiment of the present application, the length direction of the locking block body 10 is the direction indicated by the X arrow in FIG. 2, and the width direction of the locking block body 10 is the direction indicated by the Y arrow in FIG. 2. The length of the locking block body 10 is 400-500 mm, and preferably, the length of the locking block body 10 is 450 mm. The width of the locking block body 10 is 80-120 mm, and preferably, the width of the locking block body 10 is 100 mm. The height of the locking block body 10 is 30-50 mm, and preferably, the height of the locking block body 10 is 40 mm.

[0062] In one embodiment of the present application, as shown in FIGS. 1-3, the locking block body 10 is provided with a first locking pin hole 11 and a second locking pin hole 12, which are arranged at intervals along the length direction of the locking block body 10. The first locking pin hole 11 is used for locking cooperation with the rotating pin 60 when the rotating table 32 is rotated to a first angle, at which time the counterweight oil cylinder 40 is just above the first end of the positioning hole.

[0063] In one embodiment of the present application, as shown in FIGS. 1-3, the second locking pin hole 12 is an elliptical hole. Since the second locking pin hole 12 is an elliptical hole, in order to facilitate the description of the positional relationship between the second locking pin hole 12 and the locking block body 10, the major axis and the minor axis of the ellipse are introduced to describe the second locking pin hole 12. In this embodiment, the major axis of the second locking pin hole 12 is parallel to the width direction of the locking block body 10, that is, the major axis of the second locking pin hole 12 is perpendicular to the length direction of the locking block body 10. Of course, the major axis of the second locking pin hole 12 can also form an acute angle with the width direction of the locking block body 10, and preferably, the acute angle is less than 30 degrees. By making the major axis of the second locking pin hole 12 form an acute angle with the width direction of the locking block body 10, when the rotating pin 60 enters the second locking pin hole 12, the gap between the rotating pin 60 and the inner wall of the second locking pin hole 12 becomes smaller and smaller when the rotating pin 60 moves along the major axis of the second locking pin hole 12, thereby avoiding the rotating pin 60 from wobbling in the second locking pin hole 12.

[0064] In one embodiment of the present application, as shown in FIGS. 1-3, the second locking pin hole 12 is an elliptical hole. Since the second locking pin hole 12 is an elliptical hole, in order to facilitate the description of the positional relationship between the second locking pin hole 12 and the locking block body 10, the major axis and the minor axis of the ellipse are introduced to describe the second locking pin hole 12. In this embodiment, the major axis of the second locking pin hole 12 is parallel to the width direction of the locking block body 10, that is, the major axis of the second locking pin hole 12 is perpendicular to the length direction of the locking block body 10. Of course, the major axis of the second locking pin hole 12 can also form an acute angle with the width direction of the locking block body 10, and preferably, the acute angle is less than 30 degrees. By making the major axis of the second locking pin hole 12 form an acute angle with the width direction of the locking block body 10, when the rotating pin 60 enters the second locking pin hole 12, the gap between the rotating pin 60 and the inner wall of the second locking pin hole 12 becomes smaller and smaller when the rotating pin 60 moves along the major axis of the second locking pin hole 12, thereby avoiding the rotating pin 60 from wobbling in the second locking pin hole 12.

[0065] In one embodiment of the present application, as shown in FIGS. 1-3, at least one end of the locking block body 10 is provided with a first guide inclined surface 13, which is located on the top surface of the locking block body 10. The first guide inclined surface 13 is used to provide a guide function for the rotating pin 60, so that the rotating pin 60 can reach the top surface of the locking block body 10.

[0066] For the lock block body 10 without the first guide slope 13, when the operator uses the manual rotary latch 60, the rotary latch 60 will abut against the end surface of the two ends of the lock block body 10, and the movement of the rotary latch 60 is blocked, so that the rotary latch 60 cannot reach the top surface of the lock block body 10, and the rotary latch 60 cannot enter the lock pin hole. By arranging the first guide slope 13 at least at one end of the lock block body 10, the thickness of the two ends of the lock block body 10 is reduced. When the manual rotary latch 60 or the rotary latch 60 is advanced to the position, the rotary latch 60 will abut against the first guide slope 13, and the rotary latch 60 is slid upward by the first guide slope 13, so that the rotary latch 60 can smoothly reach the top surface of the lock block body 10 and finally slide into the lock pin hole.

[0067] In an embodiment of the present application, as shown in FIGS. 1 and 3, the two ends of the lock block body 10 are provided with the first guide slope 13, and the length and width of the two first guide slopes 13 are the same, and the two first guide slopes 13 are inclined downward in directions away from each other, that is, the two first guide slopes 13 are symmetrically arranged. Since the two ends of the lock block body 10 are provided with the first guide slope 13, the thickness of the end of the lock block body 10 is reduced, so that the rotary latch 60 can smoothly reach the top surface of the lock block body 10.

[0068] It should be noted here that the first guide slope 13 in the present embodiment is an inclined plane, and of course the first guide slope 13 can also be an inclined arc surface.

[0069] In an embodiment of the present application, the included angle between the two first guide slopes 13 and the bottom surface of the lock block body 10 is equal, that is, the inclination angles of the two first guide slopes 13 are the same. By making the inclination angles of the two first guide slopes 13 the same, the two ends of the lock block body 10 are symmetrical, and in the processing process, the positions of the first lock pin hole 11 and the second lock pin hole 12 do not need to be considered, and only in the installation process, the positions of the first lock pin hole 11 and the second lock pin hole 12 need to be considered, which simplifies the processing technology of the lock block body 10 and improves the production efficiency.

[0070] In an embodiment of the present application, the edge of the lock pin hole is provided with a second guide slope 14 inclined downward toward the lock pin hole, and the arrangement of the second guide slope 14 increases the opening size of the lock pin hole to some extent, facilitating the rotary latch 60 to enter the lock pin hole.

[0071] In an embodiment of the present application, as shown in FIGS. 1 and 3, the edges of the first lock pin hole 11 and the second lock pin hole 12 are provided with the second guide slope 14, and the inclination angles of the second guide slopes 14 of the first lock pin hole 11 and the second lock pin hole 12 are the same.

[0072] In a preferred embodiment of the present application, the top of the locking block body 10 is provided with a guide groove (not shown) located between the first locking pin hole 11 and the second locking pin hole 12, one end of the guide groove communicates with the first locking pin hole 11, the other end of the guide groove communicates with the second locking pin hole 12, and the depth of the guide groove is less than the depth of the first locking pin hole 11 and the depth of the second locking pin hole 12. The guide groove is used to guide the swivel bolt 60 during the process of sliding from the first locking pin hole 11 to the second locking pin hole 12, so that the swivel bolt 60 can smoothly enter the second locking pin hole 12.

[0073] The control method of the hoisting equipment for mounting the counterweight is described below in combination with FIGS. 8-9.

[0074] The hoisting equipment includes a slewing assembly 30, a counterweight cylinder 40, a counterweight block 50, a swivel bolt 60, and a turntable locking block provided with a locking pin hole, and the control method of the hoisting equipment for mounting the counterweight includes:

[0075] Step S100, in response to a mounting start instruction, controlling the slewing assembly 30 to rotate to a predetermined angle;

[0076] Step S200, in the case where the slewing assembly 30 rotates to the predetermined angle, controlling the position relationship between the swivel bolt 60 and the locking pin hole to be adjusted, and obtaining a first position signal triggered by the swivel bolt 60;

[0077] Step S300, in the case where the first position signal represents that the swivel bolt 60 is inserted into the locking pin hole, controlling the counterweight cylinder 40 to perform a mounting action on the counterweight block 50.

[0078] The control method of the hoisting equipment for mounting the counterweight provided by the present application, by controlling the position relationship between the swivel bolt 60 and the locking pin hole to be adjusted in the case where the slewing assembly 30 rotates to the predetermined angle, and obtaining a first position signal triggered by the swivel bolt 60; in the case where the first position signal represents that the swivel bolt 60 is inserted into the locking pin hole, controlling the counterweight cylinder 40 to perform a mounting action on the counterweight block 50, thereby realizing automatic control of mounting the counterweight, without manual observation and manual lifting, effectively improving the efficiency of mounting the counterweight, and enhancing the safety of mounting the counterweight.

[0079] In an embodiment of the present application, the locking pin hole includes a first locking pin hole 11, and the predetermined angle includes a first predetermined angle, and in the case where the slewing assembly 30 rotates to the first predetermined angle, controlling the position relationship between the swivel bolt 60 and the locking pin hole to be adjusted, and obtaining a first position signal triggered by the swivel bolt 60 includes:

[0080] Controlling the swivel bolt 60 to be inserted into the first locking pin hole 11, and obtaining a first position signal representing that the swivel bolt 60 is inserted into place.

[0081] When the slewing assembly 30 rotates to the first predetermined angle, the rotation pin 60 is above the first locking hole 11, the control device controls the rotation pin 60 to be inserted into the first locking hole 11, and when the rotation pin 60 is inserted into the first locking hole 11, the first proximity switch is triggered to output a first position signal for indicating that the rotation pin 60 is inserted into the first locking hole 11, the control device acquires the first position signal for indicating that the rotation pin 60 is inserted into the first locking hole 11, and determines that the rotation pin 60 is inserted into the first locking hole 11. Otherwise, the control device controls the hoisting equipment to stop working to prevent safety accidents.

[0082] In an embodiment of the present application, when the slewing assembly 30 rotates to the first predetermined angle, the control device controls the position relationship between the rotation pin 60 and the locking hole, and acquires the first position signal triggered by the rotation pin 60, including:

[0083] The control device controls the rotation pin 60 to be pulled out of the first locking hole 11, and acquires a first position signal for indicating that the rotation pin 60 is unlocked.

[0084] The control device controls the rotation pin 60 to be pulled out of the first locking hole 11, and when the rotation pin 60 is pulled out of the first locking hole 11, the first proximity switch is triggered to output a first position signal for indicating that the rotation pin 60 is unlocked. After the control device acquires the first position signal for indicating that the rotation pin 60 is unlocked, it is determined that the rotation pin 60 is unlocked, and the control device controls the rotating platform 32 to rotate to the second predetermined angle.

[0085] In an embodiment of the present application, the locking hole further includes a second locking hole 12, and the predetermined angle further includes a second predetermined angle. When the slewing assembly 30 rotates to the second predetermined angle, the control device controls the position relationship between the rotation pin 60 and the locking hole, and acquires the first position signal triggered by the rotation pin 60, including:

[0086] The control device controls the rotation pin 60 to be inserted into the second locking hole 12, and acquires a first position signal for indicating that the rotation pin 60 is inserted into the second locking hole 12.

[0087] When the slewing assembly 30 rotates to the second predetermined angle, the rotation pin 60 is above the second locking hole 12, the control device controls the rotation pin 60 to be inserted into the second locking hole 12, and when the rotation pin 60 is inserted into the second locking hole 12, the first proximity switch is triggered to output a first position signal for indicating that the rotation pin 60 is inserted into the second locking hole 12, the control device acquires the first position signal for indicating that the rotation pin 60 is inserted into the second locking hole 12, and determines that the rotation pin 60 is inserted into the second locking hole 12. Otherwise, the control device controls the hoisting equipment to stop working to prevent safety accidents.

[0088] It should be noted that the first predetermined angle and the second predetermined angle of different device models can be the same or different, and the first predetermined angle and the second predetermined angle are determined according to the model of the device.

[0089] In an embodiment of the present application, the counterweight 50 is provided with a lowering hole 52 and a lifting hole 53 in communication with the lowering hole 52; in the case where the first position signal represents that the rotary latch 60 is inserted into the first locking pin hole 11, the control of the counterweight cylinder 40 to perform the mounting action on the counterweight 50 includes:

[0090] The counterweight cylinder 40 is controlled to extend so that the counterweight cylinder 40 is inserted into the lowering hole 52.

[0091] When the rotary latch 60 is inserted into the first locking pin hole 11, the counterweight cylinder 40 is above the lowering hole 52, and when the first position signal represents that the rotary latch 60 is inserted into the first locking pin hole 11, the control device controls the counterweight cylinder 40 to extend, and the counterweight cylinder 40 is inserted into the lowering hole 52.

[0092] In an embodiment of the present application, the step of controlling the counterweight cylinder 40 to perform the mounting action on the counterweight 50 further includes:

[0093] A second position signal representing that the counterweight cylinder 40 is inserted into the lowering hole 52 is acquired.

[0094] When the counterweight cylinder 40 is inserted into the lowering hole 52, a second proximity switch is triggered to output a second position signal representing that the counterweight cylinder 40 is inserted into the lowering hole 52, the control device acquires the second position signal representing that the counterweight cylinder 40 is inserted into the lowering hole 52, judges whether the counterweight cylinder 40 is inserted into the lowering hole 52 according to the second position signal, controls the rotary latch 60 to be pulled out of the first locking pin hole 11 in the case where it is determined that the counterweight cylinder 40 is inserted into the lowering hole 52, and controls the hoisting device to stop working in the case where it is determined that the counterweight cylinder 40 is not inserted into the lowering hole 52.

[0095] In an embodiment of the present application, in the case where the first position signal represents that the rotary latch 60 is inserted into the second locking pin hole 12, the control of the counterweight cylinder 40 to perform the mounting action on the counterweight 50 includes:

[0096] The counterweight cylinder 40 is controlled to retract so that the counterweight cylinder 40 is clamped into the lifting hole 53.

[0097] The counterweight oil cylinder 40 is controlled to retract, and the counterweight oil cylinder 40 enters the lifting hole 53 and is in clamping connection with the clamping piece 51. When the counterweight oil cylinder 40 is controlled to retract, the counterweight oil cylinder 40 bears a large pressure, triggering the pressure sensor to output a third position signal for indicating that the counterweight oil cylinder 40 is clamped into the lifting hole 53, and the control device acquires the third position signal for indicating that the counterweight oil cylinder 40 is clamped into the lifting hole 53, and determines that the counterweight oil cylinder 40 is clamped into the lifting hole 53.

[0098] In an embodiment of the present application, the control of the counterweight oil cylinder 40 to perform the mounting action on the counterweight block 50 further includes:

[0099] The counterweight oil cylinder 40 is controlled to lift the counterweight block 50 to a predetermined height.

[0100] After determining that the counterweight oil cylinder 40 is clamped into the lifting hole 53, the step of controlling the counterweight oil cylinder 40 to lift the counterweight block 50 to a predetermined height can be performed, and the specific value of the predetermined height is determined according to actual needs.

[0101] In an embodiment of the present application, the control method for mounting the counterweight of the hoisting equipment further includes:

[0102] Based on the received mounting start instruction, it is determined whether the hoisting equipment is in a safe state in which the counterweight can be automatically mounted;

[0103] In the case where it is determined that the hoisting equipment is in the safe state, the slewing assembly 30 is controlled to rotate to a predetermined angle.

[0104] Before performing the step of controlling the slewing assembly 30 to rotate to a predetermined angle, it is determined whether the hoisting equipment is in a safe state in which the counterweight can be automatically mounted, to prevent safety accidents in the process of mounting the counterweight. Specifically, it is determined whether the hoisting equipment is in a safe state in which the counterweight can be automatically mounted, which needs to satisfy one of the following conditions:

[0105] 1. The angle of the hoisting arm of the hoisting equipment is greater than a first specified angle and less than a second specified angle; 2. The length of the hoisting arm is less than a first specified length; 3. The position of the hook is within a specified height range; 4. The slewing angle of the slewing table 32 is within a predetermined angle range (in the angle range, the slewing pin 60 is above the slewing locking block; the angle value output by the high-precision slewing angle detection device engaged with the slewing table 32 has an angle error with the detection device output angle of the center of the slewing table 32 less than a specific value); 5. The counterweight oil cylinder 40 is retracted to a position; 6. The slewing pin 60 is in an unlocked state.

[0106] It should be noted that the above-mentioned several safety determination conditions need to be satisfied at the same time, and the step of controlling the slewing assembly 30 to rotate to a first predetermined angle can be performed. If any of the above-mentioned determination conditions is not satisfied, the human-computer interaction interface prompts the reason why it cannot be started.

[0107] It should be noted that the determination conditions for determining whether the hoisting equipment is in a safe state for automatically mounting the counterweight are not limited to the above-mentioned conditions, and other determination conditions can also be included.

[0108] In an embodiment of the present application, the control method for mounting the counterweight by the hoisting equipment further comprises:

[0109] In the case that the first position signal represents that the slewing pin 60 is pulled out of the locking hole, the slewing assembly 30 is controlled to rotate to a second predetermined angle.

[0110] Before the step of controlling the slewing assembly 30 to rotate to the second predetermined angle is performed, the pulling out of the slewing pin 60 from the locking hole is determined by the first position signal, which can avoid damage of the slewing pin 60 caused by the rotation of the slewing ring 32, and the safety of the hoisting equipment is enhanced.

[0111] In the following, a specific embodiment of the present application is described. The control method for mounting the counterweight by the hoisting equipment comprises:

[0112] Based on the received mounting start instruction, it is determined whether the hoisting equipment is in a safe state for automatically mounting the counterweight;

[0113] In the case that the hoisting equipment is determined to be in the safe state, the slewing assembly 30 is controlled to rotate to a first predetermined angle;

[0114] The slewing pin 60 is controlled to be inserted into a first locking hole 11, and a first position signal representing that the slewing pin 60 is inserted in place is obtained;

[0115] The counterweight oil cylinder 40 is controlled to be extended so as to be inserted into a lowering hole 52;

[0116] A second position signal representing that the counterweight oil cylinder 40 is inserted into the lowering hole 52 is obtained;

[0117] The slewing pin 60 is controlled to be pulled out of the first locking hole 11, and a first position signal representing that the slewing pin 60 is unlocked is obtained;

[0118] In the case that the first position signal represents that the slewing pin 60 is pulled out of the first locking hole 11, the slewing assembly 30 is controlled to rotate to a second predetermined angle;

[0119] The slewing pin 60 is controlled to be inserted into a second locking hole 12, and a first position signal representing that the slewing pin 60 is inserted in place is obtained;

[0120] The counterweight oil cylinder 40 is controlled to be retracted so as to be clamped into a lifting hole 53;

[0121] The counterweight oil cylinder 40 is controlled to lift the counterweight block 50 to a predetermined height, and the mounting of the counterweight block 50 is completed.

[0122] One specific embodiment of the present application is described below in conjunction with FIG. 9. As shown in FIG. 9, the control method for mounting the counterweight by the hoisting device includes the following steps:

[0123] Based on the received mounting start instruction, it is determined whether the hoisting device is in a safe state in which the counterweight can be automatically mounted;

[0124] If it is determined that the hoisting device is in the safe state, the slewing assembly 30 is controlled to rotate to a first predetermined angle; otherwise, the hoisting device is stopped;

[0125] The slewing latch 60 is controlled to be inserted into the first locking pin hole 11, and it is determined whether a first position signal indicating that the slewing latch 60 is inserted in place is received;

[0126] If it is determined that the first position signal indicating that the slewing latch 60 is inserted in place is received, the counterweight oil cylinder 40 is controlled to be extended so that the counterweight oil cylinder 40 is inserted into the lowering hole 52; otherwise, the hoisting device is stopped;

[0127] It is determined whether a second position signal indicating that the counterweight oil cylinder 40 is inserted into the lowering hole 52 is received;

[0128] If it is determined that the second position signal is received, the slewing latch 60 is controlled to be pulled out of the first locking pin hole 11; otherwise, the hoisting device is stopped;

[0129] It is determined whether a first position signal indicating that the slewing latch 60 is unlocked is received;

[0130] If it is determined that the first position signal indicating that the slewing latch 60 is pulled out of the first locking pin hole 11 is received, the slewing assembly 30 is controlled to rotate to a second predetermined angle; otherwise, the hoisting device is stopped;

[0131] The slewing latch 60 is controlled to be inserted into the second locking pin hole 12, and it is determined whether a first position signal indicating that the slewing latch 60 is inserted in place is received;

[0132] If the first position signal is received, the counterweight oil cylinder 40 is controlled to be retracted so that the counterweight oil cylinder 40 is clamped into the lifting hole 53; otherwise, the hoisting device is stopped;

[0133] It is determined whether a third position signal indicating that the counterweight oil cylinder 40 is clamped into the lifting hole 53 is received;

[0134] If the third position signal indicating that the counterweight oil cylinder 40 is clamped into the lifting hole 53 is received, the counterweight block 50 is mounted; otherwise, the hoisting device is stopped.

[0135] The present application also provides a control device for mounting a counterweight by a hoisting device, which includes:

[0136] The first control module is configured to control the slewing assembly 30 to rotate to a predetermined angle in response to a mounting start instruction.

[0137] The second control module is configured to control the position relationship between the rotating latch 60 and the locking pin hole and acquire a first position signal triggered by the rotating latch 60 in the case that the slewing assembly 30 rotates to the predetermined angle.

[0138] The third control module is configured to control the counterweight oil cylinder 40 to perform a mounting action on the counterweight block 50 in the case that the first position signal indicates that the rotating latch 60 is inserted into the locking pin hole.

[0139] The present application also provides an electronic device, and FIG. 10 shows a schematic diagram of an entity structure of an electronic device. As shown in FIG. 10, the electronic device can include a processor 810, a communications interface 820, a memory 830, and a communications bus 840, wherein the processor 810, the communications interface 820, and the memory 830 can complete mutual communication through the communications bus 840. The processor 810 can invoke a logical instruction in the memory 830 to execute a control method for mounting a counterweight on a hoisting device, and the method includes:

[0140] Step S100, in response to a mounting start instruction, control the slewing assembly 30 to rotate to a predetermined angle.

[0141] Step S200, in the case that the slewing assembly 30 rotates to the predetermined angle, control the position relationship between the rotating latch 60 and the locking pin hole, and acquire a first position signal triggered by the rotating latch 60.

[0142] Step S300, in the case that the first position signal indicates that the rotating latch 60 is inserted into the locking pin hole, control the counterweight oil cylinder 40 to perform a mounting action on the counterweight block 50.

[0143] Further, the logic instructions in the memory 830 described above can be implemented in the form of software functional units and sold or used as independent products, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0144] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, and the computer program comprises program instructions, and when the program instructions are executed by a computer, the computer can execute the control method for mounting the counterweight of the hoisting device provided by the above-mentioned methods, and the method comprises:

[0145] Step S100, in response to a mounting start instruction, control the slewing assembly 30 to rotate to a predetermined angle;

[0146] Step S200, in the case where the slewing assembly 30 rotates to the predetermined angle, control the position relationship between the slewing latch 60 and the lock pin hole, and obtain a first position signal triggered by the slewing latch 60;

[0147] Step S300, in the case where the first position signal represents that the slewing latch 60 is inserted into the lock pin hole, control the counterweight cylinder 40 to perform a mounting action on the counterweight block 50.

[0148] In another aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the control method for mounting the counterweight of the hoisting device provided by the above-mentioned methods, and the method comprises:

[0149] Step S100, in response to a mounting start instruction, control the slewing assembly 30 to rotate to a predetermined angle;

[0150] Step S200, in the case where the slewing assembly 30 rotates to the predetermined angle, control the position relationship between the slewing latch 60 and the lock pin hole, and obtain a first position signal triggered by the slewing latch 60;

[0151] Step S300, in the case where the first position signal represents that the swing bolt 60 is inserted into the lock pin hole, the control device controls the weight cylinder 40 to perform a mounting operation on the weight block 50.

[0152] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0153] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0154] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling a counterweight mounted on a lifting device, the lifting device comprising a slewing assembly (30), a counterweight oil cylinder (40), a counterweight block (50), a slewing latch (60), and a locking block of a turntable (32) provided with a locking pin hole; The control method includes: In response to a mounting start instruction, controlling the rotary assembly (30) to rotate to a predetermined angle; When the rotary assembly (30) rotates to a predetermined angle, the positional relationship between the rotary latch (60) and the lock pin hole is controlled and adjusted, and a first position signal triggered by the rotary latch (60) is obtained; When the first position signal indicates that the rotary latch (60) is inserted into the lock pin hole, the counterweight cylinder (40) is controlled to perform a mounting action on the counterweight block (50).

2. The method for controlling the counterweight mounted on a lifting device according to claim 1, wherein: The lock pin hole includes a first lock pin hole (11), the predetermined angle includes a first predetermined angle, and when the rotary assembly (30) rotates to the first predetermined angle, the control adjusts the positional relationship between the rotary latch (60) and the lock pin hole, and obtains a first position signal triggered by the rotary latch (60), including: The rotary latch (60) is controlled to be inserted into the first lock pin hole (11), and the first position signal indicating that the rotary latch (60) is inserted into place is obtained.

3. The method for controlling the counterweight mounted on a lifting device according to claim 2, wherein: When the rotary assembly (30) rotates to the first predetermined angle, the control adjusts the positional relationship between the rotary latch (60) and the lock pin hole, and obtains a first position signal triggered by the rotary latch (60), including: The rotary latch (60) is controlled to be pulled out from the first lock pin hole (11), and the first position signal indicating that the rotary latch (60) is unlocked is obtained.

4. The method for controlling the counterweight mounted on a lifting device according to claim 2, wherein: The lock pin hole further includes a second lock pin hole (12), and the predetermined angle further includes a second predetermined angle; when the rotary assembly (30) rotates to the second predetermined angle, controlling and adjusting the positional relationship between the rotary latch (60) and the lock pin hole, and obtaining a first position signal triggered by the rotary latch (60) includes: The rotary latch (60) is controlled to be inserted into the second lock pin hole (12), and the first position signal indicating that the rotary latch (60) is inserted into place is obtained.

5. The method for controlling the counterweight mounted on a lifting device according to claim 4, wherein: The counterweight block (50) is provided with a lowering hole (52) and a lifting hole (53) communicating with the lowering hole (52); when the first position signal indicates that the rotary latch (60) is inserted into the first lock pin hole (11), controlling the counterweight cylinder (40) to perform a mounting action on the counterweight block (50) includes: The counterweight oil cylinder (40) is controlled to extend so that the counterweight oil cylinder (40) is inserted into the lowering hole (52).

6. The method for controlling the mounting of counterweight on a lifting device according to claim 5, wherein: The step of controlling the counterweight cylinder (40) to perform a mounting action on the counterweight block (50) further includes: A second position signal indicating that the counterweight cylinder (40) is inserted into the lowering hole (52) is obtained.

7. The method for controlling the mounting of counterweight on a lifting device according to claim 5, wherein: When the first position signal indicates that the rotary latch (60) is inserted into the second lock pin hole (12), controlling the counterweight cylinder (40) to perform a mounting action on the counterweight block (50) includes: The counterweight oil cylinder (40) is controlled to retract so that the counterweight oil cylinder (40) is locked into the lifting hole (53).

8. The method for controlling the mounting of counterweight on a lifting device according to claim 7, wherein: The step of controlling the counterweight cylinder (40) to perform a mounting action on the counterweight block (50) further includes: The counterweight oil cylinder (40) is controlled to lift the counterweight block (50) to a predetermined height.

9. The method for controlling the mounting of a counterweight on a lifting device according to any one of claims 1 to 4, further comprising: Based on the received mounting start instruction, determining whether the lifting equipment is in a safe state for automatically mounting the counterweight; When it is determined that the lifting equipment is in a safe state, the slewing assembly (30) is controlled to rotate to a predetermined angle.

10. A control device for mounting a counterweight on a lifting device, comprising: A first control module is used for controlling the rotary assembly (30) to rotate to a predetermined angle in response to a mounting start instruction; A second control module is used for controlling and adjusting the positional relationship between the rotary latch (60) and the lock pin hole when the rotary assembly (30) rotates to a predetermined angle, and obtaining a first position signal triggered by the rotary latch (60); The third control module is used to control the counterweight cylinder (40) to perform a mounting action on the counterweight block (50) when the first position signal indicates that the rotary latch (60) is inserted into the lock 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 the processor executes the program, the steps of the method for controlling the mounting of a counterweight on a lifting device as claimed in any one of claims 1 to 9 are implemented.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the method for controlling the mounting of a counterweight on a lifting device according to any one of claims 1 to 9 are implemented.

13. A lifting device, comprising a frame (20), a slewing assembly (30), a counterweight cylinder (40), a slewing latch (60), a counterweight block (50) and a turntable locking block, wherein the turntable 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 latch (60) are both arranged on the slewing assembly (30).

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