Mode switching control system and mode switching control method for tower crane, and tower crane

Abstract

The present application relates to the field of engineering machinery. Disclosed are a mode switching control system and a mode switching control method for a tower crane, and a tower crane. The mode switching control system comprises a locking detector for acquiring the state of a trolley locking mechanism, a hook detector for acquiring the load condition of a hook of the tower crane, and a controller. The controller is configured to: by means of an electronic control system of the tower crane, acquiring the operating state of a working mechanism of the tower crane; in response to a luffing jib mode instruction, when it is determined that the trolley locking mechanism is in a locked state, the working mechanism of the tower crane is in a shutdown state, and the hook of the tower crane is in an unloaded state, controlling the tower crane to switch to a luffing jib mode; and, in response to a trolley-jib mode instruction, when it is determined that the trolley locking mechanism is in an unlocked state, the working mechanism of the tower crane is in the shutdown state, and the hook of the tower crane is in the unloaded state, controlling the tower crane to switch to a trolley-jib mode. The mode switching control system of the present application can improve the safety of tower crane mode switching.

Description

Mode switching control system, mode switching control method and tower crane for tower crane

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese patent application 202410988545.1 filed on July 23, 2024, the contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application belongs to the field of engineering machinery, and in particular, relates to a mode switching control system, a mode switching control method and a tower crane for a tower crane. BACKGROUND

[0004] Some existing tower cranes (tower cranes) can switch between a luffing mode and a jib mode. In the jib mode, the tower crane moves a luffing trolley on a crane boom to achieve luffing, and in the luffing mode, the luffing trolley is locked on the crane boom by a trolley locking mechanism, and the tower crane achieves luffing by making the crane boom pitch. In the existing technology, whether the luffing trolley is locked, whether each working mechanism is in a stopped state, and whether the hook is in an empty hook state are all determined by manual observation during the switching of the tower crane between the luffing mode and the jib mode. This manual observation method requires a high level of skill from the operator and is prone to human error, resulting in safety accidents. The reliability and safety are poor. SUMMARY

[0005] In view of the above deficiencies or shortcomings in the prior art, the present application provides a mode switching control system, a mode switching control method and a tower crane for a tower crane, which can improve the reliability, safety and intelligent level of the mode switching of the tower crane.

[0006] To achieve the above-mentioned purpose, the present application provides a mode switching control system for a tower crane, the tower crane comprising a crane boom, a luffing trolley movably arranged on the crane boom, and a trolley locking mechanism arranged at the end of the crane boom, the trolley locking mechanism having a locked state for locking the luffing trolley and an unlocked state for unlocking the luffing trolley, the mode switching control system comprising:

[0007] a locking detector for acquiring the state of the trolley locking mechanism;

[0008] a hook detector for acquiring the load condition of a hook of the tower crane;

[0009] a controller in communication connection with the locking detector, an electric control system of the tower crane and the hook detector, and configured to:

[0010] acquiring, by an electric control system of the tower crane, a working state of a working mechanism of the tower crane;

[0011] in response to the received boom mode instruction, controlling the tower crane to switch to the boom mode in a case where it is determined that the trolley locking mechanism is in the locked state, the working mechanism of the tower crane is in the shutdown state, and the hook of the tower crane is in the empty hook state.

[0012] in response to the received flat boom mode instruction, controlling the tower crane to switch to the flat boom mode in a case where it is determined that the trolley locking mechanism is in the unlocked state, the working mechanism of the tower crane is in the shutdown state, and the hook of the tower crane is in the empty hook state.

[0013] Optionally, the trolley locking mechanism comprises a latch and a latch driving member, the latch is movable between an extended position and a retracted position under the driving of the latch driving member, the latch in the extended position is capable of being inserted into the luffing trolley to lock the luffing trolley, and the locking detector comprises:

[0014] a first travel switch triggered when the latch moves to the extended position and sending a first trigger signal;

[0015] a second travel switch triggered when the latch moves to the retracted position and sending a second trigger signal;

[0016] a third travel switch triggered when the luffing trolley moves to the end of the tower crane and sending a third trigger signal;

[0017] the controller is further configured to:

[0018] determining that the trolley locking mechanism is in the locked state according to the first trigger signal and the third trigger signal, and determining that the trolley locking mechanism is in the unlocked state according to the second trigger signal.

[0019] Optionally, the electric control system of the tower crane comprises a hoisting frequency converter, a slewing frequency converter and a luffing frequency converter, the controller is in communication connection with the hoisting frequency converter, the slewing frequency converter and the luffing frequency converter, and is further configured to:

[0020] acquiring signals respectively fed back by the hoisting frequency converter, the slewing frequency converter and the luffing frequency converter, and determining that the hoisting mechanism, the slewing mechanism and the luffing mechanism of the tower crane are in the shutdown state according to signals respectively fed back by the hoisting frequency converter, the slewing frequency converter and the luffing frequency converter that the motor rotation speed is zero.

[0021] Optionally, the hook detector is a weight sensor for acquiring the weight of the hook; and the controller is further configured to:

[0022] determining, according to a signal that the hook weight fed back by the weight sensor is less than a preset value, that the hook of the tower crane is in an empty hook state.

[0023] Optionally, the mode switching control system further comprises a display, and the controller is in communication connection with the display and is configured to:

[0024] in response to the received boom mode instruction, in a case where it is determined that the trolley locking mechanism is not in the locked state, the working mechanism of the tower crane is not in the stopped state, or the hook of the tower crane is not in the empty hook state, displaying, through the display, a mode switching failure and a prompt information that the trolley locking mechanism is not in the locked state, the working mechanism of the tower crane is not in the stopped state, or the hook of the tower crane is not in the empty hook state;

[0025] in response to the received flat boom mode instruction, in a case where it is determined that the trolley locking mechanism is in the unlocked state, the working mechanism of the tower crane is in the stopped state, and the hook of the tower crane is in the empty hook state, displaying, through the display, a mode switching failure and a prompt information that the trolley locking mechanism is not in the locked state, the working mechanism of the tower crane is not in the stopped state, or the hook of the tower crane is not in the empty hook state.

[0026] The application also provides a tower crane comprising the mode switching control system for a tower crane.

[0027] The application also provides a mode switching control method for a tower crane, the tower crane comprising a hoisting boom, a luffing trolley movably arranged on the hoisting boom, and a trolley locking mechanism arranged at the end of the hoisting boom, the trolley locking mechanism having a locked state of locking the luffing trolley and an unlocked state of releasing the locking of the luffing trolley, the mode switching control method comprising:

[0028] acquiring, by a locking detector, the state of the trolley locking mechanism;

[0029] acquiring, by a hook detector, the hoisting load condition of the hook of the tower crane;

[0030] acquiring, by an electric control system of the tower crane, the working state of the working mechanism of the tower crane;

[0031] in response to the received boom mode instruction, in a case where it is determined that the trolley locking mechanism is in the locked state, the working mechanism of the tower crane is in the stopped state, and the hook of the tower crane is in the empty hook state, controlling the tower crane to switch to the boom mode;

[0032] In response to the received flat boom mode instruction, the tower crane is switched to the flat boom mode under the condition that the trolley locking mechanism is determined to be in an unlocked state, the working mechanism of the tower crane is determined to be in a stopped state, and the hook of the tower crane is determined to be in an empty hook state.

[0033] Optionally, the trolley locking mechanism comprises a latch and a latch driving member, the latch is movable between an extended position and a retracted position under the driving of the latch driving member, the latch in the extended position is capable of being inserted into the luffing trolley to lock the luffing trolley, the locking detector comprises a first travel switch, a second travel switch and a third travel switch, the first travel switch is triggered and sends out a first trigger signal when the latch moves to the extended position, the second travel switch is triggered and sends out a second trigger signal when the latch moves to the retracted position, and the third travel switch is triggered and sends out a third trigger signal when the luffing trolley moves to the end of the tower crane jib; the mode switching control method further comprises:

[0034] The trolley locking mechanism is determined to be in a locked state according to the first trigger signal and the third trigger signal, and the trolley locking mechanism is determined to be in an unlocked state according to the second trigger signal.

[0035] Optionally, the electric control system of the tower crane comprises a hoisting frequency converter, a slewing frequency converter and a luffing frequency converter, and the mode switching control method further comprises:

[0036] Signals respectively fed back by the hoisting frequency converter, the slewing frequency converter and the luffing frequency converter are acquired, and the hoisting mechanism, the slewing mechanism and the luffing mechanism of the tower crane are determined to be in a stopped state according to signals that the motor rotating speeds of the hoisting frequency converter, the slewing frequency converter and the luffing frequency converter are zero.

[0037] Optionally, the hook detector is a weight sensor for acquiring the weight of the hook; and the mode switching control method further comprises:

[0038] The hook of the tower crane is determined to be in an empty hook state according to a signal that the weight of the hook fed back by the weight sensor is less than a preset value.

[0039] Optionally, the mode switching control system further comprises a display, and the mode switching control method further comprises:

[0040] in response to the received boom mode instruction, in a case where it is determined that the trolley locking mechanism is not in the locked state, the working mechanism of the tower crane is not in the stopped state, or the hook of the tower crane is not in the empty hook state, displaying, through the display, mode switching failure and prompt information that the trolley locking mechanism is not in the locked state, the working mechanism of the tower crane is not in the stopped state, or the hook of the tower crane is not in the empty hook state;

[0041] in response to the received flat boom mode instruction, in a case where it is determined that the trolley locking mechanism is in the unlocked state, the working mechanism of the tower crane is in the stopped state, and the hook of the tower crane is in the empty hook state, displaying, through the display, mode switching failure and prompt information that the trolley locking mechanism is not in the locked state, the working mechanism of the tower crane is not in the stopped state, or the hook of the tower crane is not in the empty hook state.

[0042] Through the above technical solution, after receiving the boom mode instruction or the flat boom mode instruction, whether the trolley locking mechanism is locked, whether the working mechanism of the tower crane is in the stopped state, and whether the hook of the tower crane is in the empty hook state can be respectively judged according to the state of the trolley locking mechanism obtained through the locking detector, the hoisting load of the hook of the tower crane obtained through the hook detector, and the working state of the working mechanism of the tower crane obtained through the electric control system of the tower crane, and then whether mode switching is performed is judged, so that the technical requirements for the operator are greatly reduced compared with the judgment mode of artificial observation, the occurrence of safety accidents caused by human error is effectively avoided, and the reliability, safety and intelligent degree of the mode switching of the tower crane are effectively improved.

[0043] Other features and advantages of the present application will be described in detail in the following specific embodiment part. BRIEF DESCRIPTION OF DRAWINGS

[0044] The accompanying drawings are used to provide further understanding of the present application and constitute a part of the specification, and together with the following specific embodiments, serve to explain the present application, but do not constitute a limitation on the present application. In the drawings:

[0045] Fig. 1 is a schematic view of the partial structure of the end of the lifting boom of the tower crane provided by the present application;

[0046] Fig. 2 is another schematic view of the partial structure of the end of the lifting boom of the tower crane in Fig. 1;

[0047] Fig. 3 is a schematic view of the structure of the mode switching control system provided by the present application;

[0048] Fig. 4 is a flowchart of the mode switching control method provided by the present application;

[0049] Fig. 5 is a flowchart of the mode switching control method provided by the present application.

[0050] Reference Signs: 1 Crane boom 6 Controller 2 Luffing trolley 7 Hoisting inverter 3 Trolley locking mechanism 8 Slewing inverter 4 Locking detector 9 Luffing inverter 5 Hook detector 10 Display 4a First stroke switch 4b Second stroke switch 4c Third stroke switch DETAILED DESCRIPTION

[0051] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and explanatory and are not intended to limit the present application.

[0052] It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0053] In the present application, the orientation words such as "up", "down", "top", "bottom" are generally used for the directions shown in the drawings or the positional relationship between the components in the vertical, perpendicular or gravity direction, unless otherwise specified.

[0054] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0055] The present application first provides a mode switching control system for a tower crane.

[0056] In one embodiment, referring to FIG. 3, the tower crane includes a crane boom 1, a luffing trolley 2 movably arranged on the crane boom 1, and a trolley locking mechanism 3 arranged at the end of the crane boom 1, the trolley locking mechanism 3 having a locking state of locking the luffing trolley 2 and an unlocking state of unlocking the luffing trolley 2, and the mode switching control system includes:

[0057] A locking detector 4 for acquiring the state of the trolley locking mechanism 3;

[0058] A hook detector 5 for acquiring the hoisting load condition of the hook of the tower crane;

[0059] The controller 6 is in communication connection with the locking detector 4, the electric control system of the tower crane and the hook detector 5 respectively, and is configured to:

[0060] acquiring the working state of the working mechanism of the tower crane through the electric control system of the tower crane;

[0061] in response to the received boom mode instruction, controlling the tower crane to switch to the boom mode in the case that the trolley locking mechanism 3 is determined to be in the locked state, the working mechanism of the tower crane is determined to be in the shutdown state, and the hook of the tower crane is determined to be in the empty hook state;

[0062] in response to the received flat boom mode instruction, controlling the tower crane to switch to the flat boom mode in the case that the trolley locking mechanism 3 is determined to be in the unlocked state, the working mechanism of the tower crane is determined to be in the shutdown state, and the hook of the tower crane is determined to be in the empty hook state.

[0063] In the embodiment, after receiving the boom mode instruction or the flat boom mode instruction, whether the trolley locking mechanism 3 is locked, whether the working mechanism of the tower crane is in the shutdown state, and whether the hook of the tower crane is in the empty hook state are respectively determined according to the state of the trolley locking mechanism acquired through the locking detector 4, the hoisting state of the hook of the tower crane acquired through the hook detector 5, and the working state of the working mechanism of the tower crane acquired through the electric control system of the tower crane, and then it is determined whether to switch the mode. Compared with the manual observation judgment mode, the technical requirements for the operator are greatly reduced, the occurrence of safety accidents caused by human error is effectively avoided, and the reliability, safety and intelligent degree of the tower crane mode switching are effectively improved.

[0064] In one embodiment, referring to FIGS. 1-3, the trolley locking mechanism 3 includes a latch and a latch driving member, the latch being movable between an extended position and a retracted position under the driving of the latch driving member, the latch in the extended position being capable of being inserted into the trolley 2 to lock the trolley 2, and the locking detector 4 includes:

[0065] a first travel switch 4a being triggered and sending a first trigger signal when the latch moves to the extended position;

[0066] a second travel switch 4b being triggered and sending a second trigger signal when the latch moves to the retracted position;

[0067] a third travel switch 4c being triggered and sending a third trigger signal when the trolley 2 moves to the end of the jib 1;

[0068] The controller 6 is further configured to:

[0069] determining that the trolley locking mechanism 3 is in the locked state according to the first trigger signal and the third trigger signal, and determining that the trolley locking mechanism 3 is in the unlocked state according to the second trigger signal.

[0070] Specifically, the first insertion plate with the first insertion hole can be arranged on the luffing trolley 2, and the second insertion plate with the second insertion hole can be arranged at the end of the crane boom 1. When the luffing trolley 2 is moved to the end of the crane boom 1 and is in place, the first insertion hole of the first insertion plate and the second insertion hole of the second insertion plate are arranged in position. The latch is extended and inserted into the first insertion hole and the second insertion hole under the drive of the latch driving member. In this way, the luffing trolley 2 can be locked on the end of the crane boom 1 by the latch.

[0071] In the embodiment, by arranging the first travel switch 4a and the second travel switch 4b to feed back the extension and retraction of the latch, the problem that the latch is not extended to the position or retracted to the position during mode switching can be avoided. By arranging the third travel switch 4c to feed back the position of the luffing trolley 2, the problem that the luffing trolley 2 is not in place when moving to the end of the crane boom 1 can be avoided.

[0072] Specifically, the first travel switch 4a and the second travel switch 4b can be arranged on the crane boom 1 and correspond to the extension position and the retraction position of the latch, respectively. The latch can be connected with a first trigger for triggering the trigger end of the first travel switch 4a or the second travel switch 4b. The third travel switch 4c can be arranged at the end of the crane boom 1, and the luffing trolley 2 can be connected with a second trigger for triggering the trigger end of the third travel switch 4c. In addition, the controller 6 can be communicatively connected with the first travel switch 4a, the second travel switch 4b, and the third travel switch 4c in a digital quantity acquisition manner.

[0073] Of course, in other embodiments, the first travel switch 4a, the second travel switch 4b, and the third travel switch 4c can also be replaced by a laser ranging device or a proximity switch sensor.

[0074] In an embodiment, referring to FIG. 3, the electric control system of the tower crane includes a hoisting frequency converter 7, a slewing frequency converter 8, and a luffing frequency converter 9. The controller 6 is communicatively connected with the hoisting frequency converter 7, the slewing frequency converter 8, and the luffing frequency converter 9, and is further configured to:

[0075] acquire signals respectively fed back by the hoisting frequency converter 7, the slewing frequency converter 8, and the luffing frequency converter 9, and determine that the hoisting mechanism, the slewing mechanism, and the luffing mechanism of the tower crane are in a stopped state according to signals that the motor speeds respectively fed back by the hoisting frequency converter 7, the slewing frequency converter 8, and the luffing frequency converter 9 are zero.

[0076] It can be understood that the hoisting frequency converter 7, the slewing frequency converter 8 and the luffing frequency converter 9 are respectively used for controlling the operation of the motors of the hoisting mechanism, the slewing mechanism and the luffing mechanism of the tower crane, and the hoisting mechanism, the slewing mechanism and the luffing mechanism of the tower crane can be quickly and accurately determined to be in the stopped state through the hoisting frequency converter 7, the slewing frequency converter 8 and the luffing frequency converter 9.

[0077] In the embodiment, the controller 6 can be in communication connection with the hoisting frequency converter 7, the slewing frequency converter 8 and the luffing frequency converter 9 in the mode of CANOPEN, ModbusRTU, ModubsTCP, Ethernet and the like.

[0078] Of course, in some other embodiments, the electric control system of the tower crane comprises a first encoder, a second encoder and a third encoder respectively used for detecting the motors of the hoisting mechanism, the slewing mechanism and the luffing mechanism, the controller 6 can be in communication connection with the first encoder, the second encoder and the third encoder, and is further configured to:

[0079] acquire the signals respectively fed back by the first encoder, the second encoder and the third encoder, and determine that the hoisting mechanism, the slewing mechanism and the luffing mechanism of the tower crane are in the stopped state according to the signals that the motor rotation speeds of the first encoder, the second encoder and the third encoder are zero.

[0080] In an embodiment, the hook detector 5 is a weight sensor used for acquiring the weight of the hook; the controller 6 is further configured to:

[0081] determine that the hook of the tower crane is in the empty hook state according to the signal that the weight of the hook fed back by the weight sensor is less than a preset value.

[0082] It should be noted that the hook of the tower crane is in the empty hook state, i.e. the hook of the tower crane is empty and does not carry any heavy object.

[0083] In the embodiment, the controller 6 can be in communication connection with the weight sensor in the mode of CAN communication. In addition, in actual application, the preset value is generally set to 0.5 tons.

[0084] In an embodiment, referring to FIG. 3, the mode switching control system further comprises a display 10, the controller 6 is in communication connection with the display 10, and is configured to:

[0085] In response to the received boom mode instruction, in the case that it is determined that the trolley locking mechanism 3 is not in the locked state, the working mechanism of the tower crane is not in the stopped state, or the hook of the tower crane is not in the empty hook state, the display 10 displays the mode switching failure and the prompt information that the trolley locking mechanism 3 is not in the locked state, the working mechanism of the tower crane is not in the stopped state, or the hook of the tower crane is not in the empty hook state; for example, when it is determined that the trolley locking mechanism 3 is not in the locked state, the display 10 displays the mode switching failure and the prompt information that the trolley locking mechanism 3 is not in the locked state.

[0086] In response to the received flat boom mode instruction, in the case that it is determined that the trolley locking mechanism 3 is in the unlocked state, the working mechanism of the tower crane is in the stopped state, and the hook of the tower crane is in the empty hook state, the display 10 displays the mode switching failure and the prompt information that the trolley locking mechanism 3 is not in the locked state, the working mechanism of the tower crane is not in the stopped state, or the hook of the tower crane is not in the empty hook state; for example, when it is determined that the trolley locking mechanism 3 is not in the unlocked state, the display 10 displays the mode switching failure and the prompt information that the trolley locking mechanism 3 is not in the unlocked state.

[0087] In the embodiment, the display 10 is arranged to display the prompt information, so that the operator can learn the real-time situation of the switching through the display 10 in time, and can quickly and effectively troubleshoot the problem based on the prompt information when the switching fails, thereby effectively improving the operation efficiency.

[0088] Specifically, the controller 6 can be in communication connection with the display 10 in the UDP communication mode.

[0089] In addition, the display 10 can be a touch screen, and the operator can input the boom mode instruction and the flat boom mode instruction to the controller 6 through the display 10. Of course, in other embodiments, the operator can also input the boom mode instruction and the flat boom mode instruction to the controller 6 through a key input device.

[0090] The application also provides a tower crane, which comprises the mode switching control system for a tower crane as described above. The specific structure of the mode switching control system for a tower crane is referred to the above embodiments. Since the tower crane adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described here one by one.

[0091] The application also provides a mode switching control method for a tower crane.

[0092] In an embodiment, referring to FIG. 4 and FIG. 5, the tower crane comprises a tower jib 1, a luffing trolley 2 movably arranged on the tower jib 1, and a trolley locking mechanism 3 arranged at the end of the tower jib 1, the trolley locking mechanism 3 having a locking state of locking the luffing trolley 2 and an unlocking state of unlocking the luffing trolley 2, and the mode switching control method comprises:

[0093] acquiring the state of the trolley locking mechanism 3 through a locking detector 4;

[0094] acquiring the load condition of the hook of the tower crane through a hook detector 5;

[0095] acquiring the working state of the working mechanism of the tower crane through the electric control system of the tower crane;

[0096] in response to the received luffing mode instruction, controlling the tower crane to switch to the luffing mode in the case that it is determined that the trolley locking mechanism 3 is in the locking state, the working mechanism of the tower crane is in the shutdown state, and the hook of the tower crane is in the empty hook state;

[0097] in response to the received luffing mode instruction, controlling the tower crane to switch to the luffing mode in the case that it is determined that the trolley locking mechanism 3 is in the unlocking state, the working mechanism of the tower crane is in the shutdown state, and the hook of the tower crane is in the empty hook state.

[0098] In the embodiment, after receiving the luffing mode instruction or the luffing mode instruction, it is determined whether the trolley locking mechanism 3 locks the luffing trolley, whether the working mechanism of the tower crane is in the shutdown state, and whether the hook of the tower crane is in the empty hook state according to the state of the trolley locking mechanism acquired through the locking detector 4, the load condition of the hook of the tower crane acquired through the hook detector 5, and the working state of the working mechanism of the tower crane acquired through the electric control system of the tower crane, respectively, and then it is determined whether to switch the mode, so that the technical requirements for the operator are greatly reduced compared with the manual observation determination mode, the occurrence of safety accidents caused by human error is effectively avoided, and the reliability, safety, and intelligent degree of the mode switching of the tower crane are effectively improved.

[0099] In an embodiment, the trolley locking mechanism 3 comprises a latch and a latch driving member, the latch is movable between an extended position and a retracted position under the driving of the latch driving member, the latch in the extended position is capable of being inserted into the luffing trolley 2 to lock the luffing trolley 2, the locking detector 4 comprises a first travel switch 4a, a second travel switch 4b, and a third travel switch 4c, the first travel switch is triggered and sends out a first trigger signal when the latch moves to the extended position, the second travel switch is triggered and sends out a second trigger signal when the latch moves to the retracted position, and the third travel switch is triggered and sends out a third trigger signal when the luffing trolley 2 moves to the end of the tower jib 1; the mode switching control method further comprises:

[0100] The trolley locking mechanism 3 is determined to be in the locked state according to the first trigger signal and the third trigger signal, and the trolley locking mechanism 3 is determined to be in the unlocked state according to the second trigger signal.

[0101] In an embodiment, the electric control system of the tower crane includes a hoisting frequency converter 7, a slewing frequency converter 8, and a luffing frequency converter 9, and the mode switching control method further includes:

[0102] Signals respectively fed back by the hoisting frequency converter 7, the slewing frequency converter 8, and the luffing frequency converter 9 are acquired, and the hoisting mechanism, the slewing mechanism, and the luffing mechanism of the tower crane are determined to be in the stopped state according to signals that the motor rotating speeds respectively fed back by the hoisting frequency converter 7, the slewing frequency converter 8, and the luffing frequency converter 9 are zero.

[0103] In an embodiment, the hook detector 5 is a weight sensor for acquiring the weight of the hook; and the mode switching control method further includes:

[0104] The hook of the tower crane is determined to be in the empty hook state according to a signal that the weight of the hook fed back by the weight sensor is less than a preset value.

[0105] In an embodiment, the mode switching control system further includes a display 10, and the mode switching control method further includes:

[0106] In response to the received boom mode instruction, in the case that the trolley locking mechanism 3 is determined not to be in the locked state, the working mechanism of the tower crane is determined not to be in the stopped state, or the hook of the tower crane is determined not to be in the empty hook state, the display 10 displays mode switching failure and prompt information that the trolley locking mechanism 3 is not in the locked state, the working mechanism of the tower crane is not in the stopped state, or the hook of the tower crane is not in the empty hook state.

[0107] In response to the received flat boom mode instruction, in the case that the trolley locking mechanism 3 is determined to be in the unlocked state, the working mechanism of the tower crane is determined to be in the stopped state, and the hook of the tower crane is determined to be in the empty hook state, the display 10 displays mode switching failure and prompt information that the trolley locking mechanism 3 is not in the locked state, the working mechanism of the tower crane is not in the stopped state, or the hook of the tower crane is not in the empty hook state.

[0108] In the description of the present application, it should be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0109] In this application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection or communication with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0110] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. Furthermore, the skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0111] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A mode switching control system for a tower crane, wherein, The tower crane comprises a lifting arm frame (1), a luffing trolley (2) movably arranged on the lifting arm frame (1), and a trolley locking mechanism (3) arranged at the end of the lifting arm frame (1), the trolley locking mechanism (3) having a locking state for locking the luffing trolley (2) and an unlocking state for unlocking the luffing trolley (2), and the mode switching control system comprises: a locking detector (4) for acquiring the state of the trolley locking mechanism (3); a hook detector (5) for acquiring the hoisting load condition of the hook of the tower crane; a controller (6) communicatively connected with the locking detector (4), the electric control system of the tower crane, and the hook detector (5), and configured to: acquire the working state of the working mechanism of the tower crane through the electric control system of the tower crane; in response to the received luffing mode instruction, control the tower crane to switch to the luffing mode in the case that the trolley locking mechanism (3) is determined to be in the locking state, the working mechanism of the tower crane is determined to be in the shutdown state, and the hook of the tower crane is determined to be in the empty hook state; in response to the received flat boom mode instruction, control the tower crane to switch to the flat boom mode in the case that the trolley locking mechanism (3) is determined to be in the unlocking state, the working mechanism of the tower crane is determined to be in the shutdown state, and the hook of the tower crane is determined to be in the empty hook state.

2. The mode switching control system for a tower crane according to claim 1, wherein The trolley locking mechanism (3) comprises a latch and a latch driving member, the latch being movable between an extended position and a retracted position under the driving of the latch driving member, the latch in the extended position being capable of being inserted into the luffing trolley (2) to lock the luffing trolley (2), and the locking detector (4) comprises: a first travel switch (4a) triggered when the latch moves to the extended position and emitting a first trigger signal; a second travel switch (4b) triggered when the latch moves to the retracted position and emitting a second trigger signal; a third travel switch (4c) triggered when the luffing trolley (2) moves to the end of the lifting arm frame (1) and emitting a third trigger signal; The controller (6) is further configured to: determine that the trolley locking mechanism (3) is in the locking state according to the first trigger signal and the third trigger signal, and determine that the trolley locking mechanism (3) is in the unlocking state according to the second trigger signal.

3. The mode switching control system for a tower crane according to claim 1, wherein The electric control system of the tower crane comprises a hoisting frequency converter (7), a slewing frequency converter (8), and a luffing frequency converter (9), the controller (6) is communicatively connected with the hoisting frequency converter (7), the slewing frequency converter (8), and the luffing frequency converter (9), and is further configured to: acquire signals respectively fed back by the hoisting frequency converter (7), the slewing frequency converter (8), and the luffing frequency converter (9), and determine that the hoisting mechanism, the slewing mechanism, and the luffing mechanism of the tower crane are in the shutdown state according to the signals that the motor speeds of the hoisting frequency converter (7), the slewing frequency converter (8), and the luffing frequency converter (9) respectively feed back are zero.

4. The mode switching control system for a tower crane according to claim 1, wherein The hook detector (5) is a weight sensor for acquiring the weight of the hook; the controller (6) is further configured to: determine that the hook of the tower crane is in an empty hook state according to a signal that the weight of the hook fed back by the weight sensor is less than a preset value.

5. The mode switching control system for a tower crane according to claim 1, wherein The mode switching control system further comprises a display (10), the controller (6) is in communication connection with the display (10) and is configured to: in response to the received boom mode instruction, display, through the display (10), that the mode switching fails and the trolley locking mechanism (3) is not in the locked state, the working mechanism of the tower crane is not in the stopped state, or the hook of the tower crane is not in the empty hook state in the case that the trolley locking mechanism (3) is determined to be in the unlocked state, the working mechanism of the tower crane is determined to be in the stopped state, and the hook of the tower crane is determined to be in the empty hook state; in response to the received flat arm mode instruction, display, through the display (10), that the mode switching fails and the trolley locking mechanism (3) is not in the locked state, the working mechanism of the tower crane is not in the stopped state, or the hook of the tower crane is not in the empty hook state in the case that the trolley locking mechanism (3) is determined to be in the unlocked state, the working mechanism of the tower crane is determined to be in the stopped state, and the hook of the tower crane is determined to be in the empty hook state.

6. A tower crane, wherein, The tower crane comprises the mode switching control system for a tower crane according to any one of claims 1 to 5.

7. A mode switching control method for a tower crane, wherein, The tower crane comprises a lifting arm frame (1), a luffing trolley (2) movably arranged on the lifting arm frame (1), and a trolley locking mechanism (3) arranged at the end of the lifting arm frame (1), the trolley locking mechanism (3) having a locked state of locking the luffing trolley (2) and an unlocked state of releasing the locking of the luffing trolley (2), and the mode switching control method comprises: acquiring the state of the trolley locking mechanism (3) through a locking detector (4); acquiring the hoisting load condition of the hook of the tower crane through a hook detector (5); acquiring the working state of the working mechanism of the tower crane through an electric control system of the tower crane; in response to the received boom mode instruction, controlling the tower crane to switch to the boom mode in the case that the trolley locking mechanism (3) is determined to be in the locked state, the working mechanism of the tower crane is determined to be in the stopped state, and the hook of the tower crane is determined to be in the empty hook state; in response to the received flat arm mode instruction, controlling the tower crane to switch to the flat arm mode in the case that the trolley locking mechanism (3) is determined to be in the unlocked state, the working mechanism of the tower crane is determined to be in the stopped state, and the hook of the tower crane is determined to be in the empty hook state.

8. The mode switching control method for a tower crane according to claim 7, wherein The trolley locking mechanism (3) comprises a latch and a latch driving member, the latch is movable between an extended position and a retracted position under the driving of the latch driving member, the latch in the extended position is capable of being inserted into the luffing trolley (2) to lock the luffing trolley (2), the locking detector (4) comprises a first travel switch (4a), a second travel switch (4b) and a third travel switch (4c), the first travel switch (4a) is triggered when the latch moves to the extended position and sends a first trigger signal, the second travel switch (4b) is triggered when the latch moves to the retracted position and sends a second trigger signal, the third travel switch (4c) is triggered when the luffing trolley (2) moves to the end of the tower crane (1) and sends a third trigger signal; the mode switching control method further comprises: determining that the trolley locking mechanism (3) is in a locked state according to the first trigger signal and the third trigger signal, and determining that the trolley locking mechanism (3) is in an unlocked state according to the second trigger signal.

9. The mode switching control method for a tower crane according to claim 7, wherein The electric control system of the tower crane comprises a hoisting frequency converter (7), a slewing frequency converter (8) and a luffing frequency converter (9), and the mode switching control method further comprises: acquiring signals respectively fed back by the hoisting frequency converter (7), the slewing frequency converter (8) and the luffing frequency converter (9), and determining that the hoisting mechanism, the slewing mechanism and the luffing mechanism of the tower crane are in a stopped state according to signals that the motor speeds of the hoisting frequency converter (7), the slewing frequency converter (8) and the luffing frequency converter (9) are zero.

10. The mode switching control method for a tower crane according to claim 7, wherein The hook detector (5) is a weight sensor for acquiring the weight of the hook; the mode switching control method further comprises: determining that the hook of the tower crane is in an empty hook state according to a signal that the hook weight fed back by the weight sensor is less than a preset value.

11. The mode switching control method for a tower crane according to claim 7, wherein The mode switching control system further comprises a display (10), and the mode switching control method further comprises: in response to the received boom mode instruction, in the case of determining that the trolley locking mechanism (3) is not in a locked state, the working mechanism of the tower crane is not in a stopped state or the hook of the tower crane is not in an empty hook state, displaying mode switching failure and prompt information that the trolley locking mechanism (3) is not in a locked state, the working mechanism of the tower crane is not in a stopped state or the hook of the tower crane is not in an empty hook state through the display (10); in response to the received flat boom mode instruction, in the case of determining that the trolley locking mechanism (3) is in an unlocked state, the working mechanism of the tower crane is in a stopped state and the hook of the tower crane is in an empty hook state, displaying mode switching failure and prompt information that the trolley locking mechanism (3) is not in a locked state, the working mechanism of the tower crane is not in a stopped state or the hook of the tower crane is not in an empty hook state through the display (10).

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