CN108383008A - Tower crane setting-up control method and system - Google Patents
Tower crane setting-up control method and system Download PDFInfo
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- CN108383008A CN108383008A CN201810190173.2A CN201810190173A CN108383008A CN 108383008 A CN108383008 A CN 108383008A CN 201810190173 A CN201810190173 A CN 201810190173A CN 108383008 A CN108383008 A CN 108383008A
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- Prior art keywords
- tower crane
- luffing
- setting
- control
- revolution
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a kind of tower crane setting-up control method, this method is：When selecting setting-up pattern, control device will shield the normal gear control signal of the limitation signal and control device of weight limitor, at this time, operator can only manipulate tower crane with dead slow speed operating status, control device calculates hoisting weight, when hoisting weight is in 8% ~ 15% reasonable overload range according to parameters such as Lifting Dynamic Load coefficient, dead weight impact coefficient, revolution luffing inertial load impact coefficient, wind speed, system can respond dead slow speed manipulation instruction, and tower crane is made to be lifted with dead slow speed；When Hoisting Parameters or condition change, cause to lift weight and increase, exceeds zone of reasonableness, system will forbid raising vertical motion.The present invention makes tower crane meet the special operation condition requirement that client needs 8% ~ 15% overload once in a while, realizes rationally overload.
Description
Technical field
The present invention relates to tower crane fields, and in particular to a kind of tower crane setting-up control method and system.
Background technology
The rated load weight of tower crane is the maximum weight for allowing lifting under normal circumstances, and overload operation not only damages tower crane
It is very big, significant damage may also be generated to operating personnel and ambient enviroment.Lift heavy is limited using weight limitor in industry
System, it is general that 25% weight, 70% weight and the several threshold values of 100% weight are set, when lift heavy reaches different threshold values, using difference
Type of alarm remind driver, such as light warning, buzzer warning and limitation speed, when reaching 100% weight, control
System does not respond to rise manipulation instruction, makes tower crane that can not carry out lifting operation.
The prior art limits lift heavy using weight limitor, general that 25% weight, 70% weight and 100% is arranged
The several threshold values of weight remind driver, such as light warning, bee when lift heavy, which reaches, does not stop threshold values using different type of alarms
Ring device alarm and limitation speed etc., when reaching 100% weight, control system does not respond to rise manipulation instruction, make tower crane without
Method carries out lifting operation.Have the shortcomings that following：
1. restricting the promotion of tower crane performance.After tower crane lift heavy reaches 100%, by controlling raising, luffing, revolution three
Speed reduces and rises dynamic load factor, dead weight impact coefficient, revolution luffing inertial load impact coefficient etc., remain to realize overload 8%~
15% duty requirements.
2. due to the limitation function of gravity limiter, client when needing the operating mode rationally to overload once in a while, may be up to
After removing weight limitor privately to purpose, operation is carried out, such case can not limit the tower crane speed of service, may lead
Cause serious consequence.
Invention content
Insufficient according to prior art, a kind of tower crane setting-up control method of present invention offer and system make tower crane meet visitor
Family needs the special operation condition requirement of 8%~15% overload once in a while, realizes rationally overload.
The present invention is realized by following technical scheme：
A kind of tower crane setting-up control method, this method are：According to raising maximum sustained speed vqDetermine Lifting Dynamic Load coefficient
φ2；According to raising, revolution, the maximum stable speed of service of luffing and acceleration time respectively determine raising, revolution, luffing plus
Retarding power coefficient；By the determination of maximum dynamic index and the plus-minus coefficient of impact, setting-up lifting performance curve is set, that is, is being risen
Liter, luffing, the revolution speed of service, Acceleration and deceleration time and real-time wind speed are satisfied by under setting-up condition, and tower crane realization 8%~
15% setting-up performance boost；By the display screen of safety monitoring system, manually select into setting-up pattern, in setting-up pattern
Under, control device limits torque and weight according to preset setting-up lifting performance curve, while reselecting raising, returning
Turn, the speed of service of luffing and Acceleration and deceleration time, controls each mechanism and worked with the setting-up speed of service and Acceleration and deceleration time.
Preferably, manipulation device, safety monitoring system, tower crane control system integration integration are realized by bus
Control, the conversion of setting-up pattern；Setting-up pattern is switched over normal mode of operation by being mounted on the indoor display screen of driver,
After switching, setting-up mode instruction is sent to control device by bus, control device according to the instruction received, automatic shield and
Corresponding limit signal and the speed of service are selected, when lift heavy weight, raising, revolution, derricking speed and wind speed all meet item
When part, 8%~15% reasonable overload operation is realized.
Preferably, the manipulation device is for giving raising, luffing, revolution control signal；The tower crane control system
Including control device, lift controlling system, rotary control system, luffing control system, safe spacing system；The control device is used
Letter is controlled in the job run of control device on reception safety monitoring system operating mode information, tower crane operation parameter information and tower
Breath, and send out control command control tower crane lifting, revolution, luffing operation；Raising, revolution, luffing control system are respectively used to control
Tower crane lifting processed, revolution, luffing job run.
Preferably, the safety monitoring system is filled by display device, monitoring host computer, Weight detecting device, moment inspecting
Set, amplitude detecting device, height detecting device, angle of revolution detection device, wind speed detection device composition；Display device therein
Human-computer interaction interface is provided, for selecting operating mode and display tower crane running parameter, weight, torque, amplitude, height, revolution
Monitoring result is sent to monitoring host computer by angle, wind speed detection device for the monitoring to each relevant parameter.
Preferably, each mechanism setting-up speed of service and Acceleration and deceleration time are to choose raising action factor and the coefficient of impact
It is preset；During setting-up, control device determines whether to be operated in setting-up mould according to the air speed value detected in real time
Formula forbids being operated in setting-up pattern when air speed value is more than pre-set threshold value, allows to be operated in when air speed value is less than pre-set threshold value
Setting-up pattern, to realize the lifting performance for promoting tower crane complete machine.
A kind of tower crane setting-up control system, the system include：
Manipulation device, for giving raising, luffing, revolution control signal；
Tower crane control system, including control device, control device is the control core of entire tower crane control system, for connecing
The job run of control device controls information on receipts safety monitoring system operating mode information, tower crane operation parameter information and tower,
And send out control command control tower crane lifting, revolution, luffing operation；Raising, revolution, luffing control system are respectively used to control tower
Machine raising, revolution, luffing job run；
Safety monitoring system is filled by display device, monitoring host computer, Weight detecting device, moment measuring device, amplitude detection
It sets, height detecting device, angle of revolution detection device, wind speed detection device composition；For monitoring tower crane amplitude, height, torque
Key parameter, display screen therein provide human-computer interaction interface, for selecting operating mode and display tower crane running parameter, weight
Amount, torque, amplitude, height, angle of revolution, wind speed detection device send out monitoring result for the monitoring to each relevant parameter
It send to monitoring host computer.
Preferably, the control system further includes lift controlling system, rotary control system, luffing control system, peace
Full caging system.
Preferably, lift controlling system includes raising driving device, hoisting motor, lifting speed reducing, hoisting drum, rises
Rise wiring train, amplitude variation trolley and raising suspension hook；Described liter of driving device is connected with hoisting motor, the hoisting motor again with
Lifting speed reducing is connected, and lifting speed reducing is connected with hoisting drum again, and hoisting drum passes through raising wiring train and amplitude variation trolley
It is connected, amplitude variation trolley is connected with raising suspension hook again.
Preferably, the rotary control system includes device for revolving and driving, turning motor and rotary reducer；Described time
Rotary driving device is connected with turning motor, and the turning motor is connected with rotary reducer again.
Preferably, the luffing control system includes luffing driving device, luffing motor, amplitude-change speed reducer, luffing volume
Cylinder, luffing wiring train, amplitude variation trolley and raising suspension hook；The luffing driving device is connected with luffing motor, the luffing electricity
Machine is connected with amplitude-change speed reducer again, and the amplitude-change speed reducer is connected with amplitude-changing drum, the amplitude-changing drum and luffing wiring train
It is connected, the luffing wiring train is connected with amplitude variation trolley, and amplitude variation trolley is connected with raising suspension hook again.
Advantageous effect of the present invention：
1. by the way that setting-up pattern is arranged, realizes the overload of tower crane in the reasonable scope, greatly improve tower crane performance；
2. carrying out operating mode selection by display screen, realize that setting-up pattern switches with other operating modes, easy to operate,
Fast；
3. being controlled by system, the reasonable overload under special operation condition has been securely achieved.It is to reach conjunction to avoid client sometimes
Reason overload purpose, removes the behaviors such as weight limitor, avoids the generation of safety accident to a certain extent privately.
Description of the drawings
Fig. 1 is setting-up control system block diagram of the present invention.
Specific implementation mode
Below in conjunction with attached drawing, by specific embodiment, the present invention is further illustrated.
As shown in Figure 1, a kind of tower crane setting-up control system, which includes manipulation device, tower crane control system and safety
Monitoring system；Manipulation device is for giving raising, luffing, revolution control signal；Tower crane control system includes control device, control
Device is the control core of entire tower crane control system, for receiving safety monitoring system operating mode information, tower crane operation ginseng
The job run of control device controls information in number information and tower, and sends out control command control tower crane lifting, revolution, luffing fortune
Row；Raising, revolution, luffing control system are respectively used to control tower crane lifting, revolution, luffing job run；Safety monitoring system
By display device, monitoring host computer, Weight detecting device, moment measuring device, amplitude detecting device, height detecting device, revolution
Angle detection device, wind speed detection device composition；For monitoring tower crane amplitude, height, torque key parameter, display screen therein
Human-computer interaction interface is provided, for selecting operating mode and display tower crane running parameter, weight, torque, amplitude, height, revolution
Monitoring result is sent to monitoring host computer by angle, wind speed detection device for the monitoring to each relevant parameter.
The control system further includes lift controlling system, rotary control system, luffing control system, safe spacing system
System.
Lift controlling system includes raising driving device, hoisting motor, lifting speed reducing, hoisting drum, raising rope-winding wheel
System, amplitude variation trolley and raising suspension hook；Described liter of driving device is connected with hoisting motor, and the hoisting motor is slowed down with raising again
Machine is connected, and lifting speed reducing is connected with hoisting drum again, and hoisting drum is connected by raising wiring train with amplitude variation trolley, luffing
Trolley is connected with raising suspension hook again.
The rotary control system includes device for revolving and driving, turning motor and rotary reducer；The revolution driving dress
It sets and is connected with turning motor, the turning motor is connected with rotary reducer again.
The luffing control system include luffing driving device, luffing motor, amplitude-change speed reducer, amplitude-changing drum, luffing around
Rope sheave system, amplitude variation trolley and raising suspension hook；The luffing driving device is connected with luffing motor, the luffing motor and and luffing
Speed reducer is connected, and the amplitude-change speed reducer is connected with amplitude-changing drum, and the amplitude-changing drum is connected with luffing wiring train, the change
Width wiring train is connected with amplitude variation trolley, and amplitude variation trolley is connected with raising suspension hook again.
Crane hoisting dynamic load factor and the lifting velocity of load are in a linear relationship, i.e., Lifting Dynamic Load coefficient is load raising
The linear function of speed；And crane hoisting, revolution, the stable operation speed of luffing is smaller, the acceleration time is longer, acceleration and deceleration
The coefficient of impact is smaller, and the influence to crane structure stability is smaller.
A kind of tower crane setting-up control method, this method are：According to raising maximum sustained speed vqDetermine Lifting Dynamic Load coefficient
φ2；According to raising, revolution, the maximum stable speed of service of luffing and acceleration time respectively determine raising, revolution, luffing plus
Retarding power coefficient；By the determination of maximum dynamic index and the plus-minus coefficient of impact, setting-up lifting performance curve is set, that is, is being risen
Liter, luffing, the revolution speed of service, Acceleration and deceleration time and real-time wind speed are satisfied by under setting-up condition, and tower crane realization 8%~
15% setting-up performance boost；By the display screen of safety monitoring system, manually select into setting-up pattern, in setting-up pattern
Under, control device limits torque and weight according to preset setting-up lifting performance curve, while reselecting raising, returning
Turn, the speed of service of luffing and Acceleration and deceleration time, controls each mechanism and worked with the setting-up speed of service and Acceleration and deceleration time.
Each mechanism setting-up speed of service and Acceleration and deceleration time are preset in selection raising action factor and the coefficient of impact
's；During setting-up, control device determines whether to be operated in setting-up pattern according to the air speed value detected in real time, works as wind speed
Value forbids being operated in setting-up pattern when being more than pre-set threshold value, allows to be operated in setting-up pattern when air speed value is less than pre-set threshold value,
To realize the lifting performance for promoting tower crane complete machine.
By the display screen of safety monitoring system, manually select into setting-up pattern, under setting-up pattern, control device root
Torque and weight are limited according to preset setting-up lifting performance curve, while reselecting raising, revolution, the operation of luffing
Speed and Acceleration and deceleration time are controlled each mechanism and are worked with the setting-up speed of service and Acceleration and deceleration time.
By bus by manipulation device, safety monitoring system, tower crane control system integration integration, setting-up pattern is realized
Control, conversion；Setting-up pattern is switched over normal mode of operation by being mounted on the indoor display screen of driver, after switching, is surpassed
It plays mode instruction and control device is sent to by bus, for control device according to the instruction received, automatic shield and selection are corresponding
Limit signal and the speed of service, when lift heavy weight, raising, revolution, derricking speed and wind speed all meet condition, realize
8%~15% reasonable overload operation.
Manipulation device is for giving raising, luffing, revolution control signal；Tower crane control system includes control device, raising
Control system, rotary control system, luffing control system, safe spacing system；The control device is for receiving security monitoring system
The job run of control device controls information on system operating mode information, tower crane operation parameter information and tower, and sends out control life
Enable control tower crane lifting, revolution, luffing operation；Raising, revolution, luffing control system be respectively used to control tower crane lifting, revolution,
Luffing job run.
Safety monitoring system is filled by display device, monitoring host computer, Weight detecting device, moment measuring device, amplitude detection
It sets, height detecting device, angle of revolution detection device, wind speed detection device composition；Display device therein provides human-computer interaction
Interface, for selecting operating mode and display tower crane running parameter, weight, torque, amplitude, height, angle of revolution, wind speed measurement
Monitoring result is sent to monitoring host computer by device for the monitoring to each relevant parameter.
Compared with prior art：
A kind of tower crane setting-up operating mode is arranged in the present invention, can will just when lift heavy exceeds rated weight a certain range
Normal working mode change is setting-up operating mode, under setting-up operating mode, safely realizes rational overload lift heavy.The present invention
A kind of tower crane setting-up control method and system are proposed, by bus by control device, safety monitoring system, tower crane control system collection
Integralization realizes control, the conversion of setting-up pattern.Core of the control device as system, according to the operating mode of reception
Instruction, automatic shield and the corresponding limit signal of selection, manipulation instruction.Under setting-up pattern, control device can only respond dead slow speed behaviour
Overload lifting may be implemented when hoisting weight is in 8%~15% reasonable overload range in control instruction.Setting-up operating mode
It is completed by the indoor display screen of driver with normal mode of operation switching, it is easy to operate, quick.
It the above is only the preferred embodiment of the present invention, it should be pointed out that：Those skilled in the art are come
It says, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (10)
1. a kind of tower crane setting-up control method, which is characterized in that this method is：
Lifting Dynamic Load coefficient is determined according to raising maximum sustained speed；
According to raising, revolution, the maximum stable speed of service of luffing and acceleration time respectively determine raising, revolution, luffing plus
Retarding power coefficient；
By maximum dynamic index and plus-minus the coefficient of impact determination, set setting-up lifting performance curve, i.e., raising, luffing,
The revolution speed of service, Acceleration and deceleration time and real-time wind speed are satisfied by under setting-up condition, and tower crane realizes 8% ~ 15% setting-up
Performance boost；
It by the display screen of safety monitoring system, manually selects into setting-up pattern, under setting-up pattern, control device is according to pre-
The setting-up lifting performance curve set limits torque and weight, at the same reselect raising, revolution, luffing the speed of service
And Acceleration and deceleration time, it controls each mechanism and is worked with the setting-up speed of service and Acceleration and deceleration time.
2. tower crane setting-up control method according to claim 1, it is characterised in that：By bus by manipulation device, safety
Monitoring system, tower crane control system integration integration, realize control, the conversion of setting-up pattern；
Setting-up pattern is switched over normal mode of operation by being mounted on the indoor display screen of driver, after switching, setting-up pattern
Instruction is sent to control device by bus, and control device is according to the instruction received, automatic shield and the corresponding limit of selection
Signal and the speed of service realize 8% ~ 15% when lift heavy weight, raising, revolution, derricking speed and wind speed all meet condition
Reasonable overload operation.
3. tower crane setting-up control method according to claim 2, it is characterised in that：The manipulation device is for giving
Liter, luffing, revolution control signal；
The tower crane control system includes control device, lift controlling system, rotary control system, luffing control system, safety limit
Position system；
The control device manipulates dress for receiving on safety monitoring system operating mode information, tower crane operation parameter information and tower
The job run control information set, and send out control command control tower crane lifting, revolution, luffing operation；Raising, revolution, luffing
Control system is respectively used to control tower crane lifting, revolution, luffing job run.
4. tower crane setting-up control method according to claim 2, it is characterised in that：The safety monitoring system is filled by display
Set, monitoring host computer, Weight detecting device, moment measuring device, amplitude detecting device, height detecting device, angle of revolution detection
Device, wind speed detection device composition；
Display device therein provides human-computer interaction interface, for selecting operating mode and display tower crane running parameter, weight, power
Monitoring result is sent to prison by square, amplitude, height, angle of revolution, wind speed detection device for the monitoring to each relevant parameter
Control host.
5. tower crane setting-up control method according to claim 1, it is characterised in that：Each mechanism setting-up speed of service and plus-minus
The fast time is preset in selection raising action factor and the coefficient of impact；
During setting-up, control device determines whether to be operated in setting-up pattern according to the air speed value detected in real time, works as wind
Fast value forbids being operated in setting-up pattern when being more than pre-set threshold value, allows to be operated in setting-up mould when air speed value is less than pre-set threshold value
Formula, to realize the lifting performance for promoting tower crane complete machine.
6. a kind of tower crane setting-up control system, which is characterized in that the system includes：
Manipulation device, for giving raising, luffing, revolution control signal；
Tower crane control system, including control device, control device are the control cores of entire tower crane control system, for receiving peace
The job run of control device controls information on full monitoring system operating mode information, tower crane operation parameter information and tower, concurrently
Go out control command control tower crane lifting, revolution, luffing operation；Raising, revolution, luffing control system are respectively used to control tower crane and rise
It rises, turn round, luffing job run；
Safety monitoring system, by display device, monitoring host computer, Weight detecting device, moment measuring device, amplitude detecting device,
Height detecting device, angle of revolution detection device, wind speed detection device composition；It is crucial for monitoring tower crane amplitude, height, torque
Parameter, display screen therein provide human-computer interaction interface, for selecting operating mode and display tower crane running parameter, weight, power
Monitoring result is sent to prison by square, amplitude, height, angle of revolution, wind speed detection device for the monitoring to each relevant parameter
Control host.
7. a kind of tower crane setting-up control system according to claim 6, it is characterised in that：The control system further included
Rise control system, rotary control system, luffing control system, safe spacing system.
8. a kind of tower crane setting-up control system according to claim 7, it is characterised in that：Lift controlling system includes raising
Driving device, hoisting motor, lifting speed reducing, hoisting drum, raising wiring train, amplitude variation trolley and raising suspension hook；
Described liter of driving device is connected with hoisting motor, and the hoisting motor is connected with lifting speed reducing again, and lifting speed reducing is again
Be connected with hoisting drum, hoisting drum is connected by raising wiring train with amplitude variation trolley, amplitude variation trolley again with raising suspension hook phase
Even.
9. a kind of tower crane setting-up control system according to claim 7, it is characterised in that：The rotary control system includes
Device for revolving and driving, turning motor and rotary reducer；
The device for revolving and driving is connected with turning motor, and the turning motor is connected with rotary reducer again.
10. a kind of tower crane setting-up control system according to claim 7, it is characterised in that：The luffing control system packet
Include luffing driving device, luffing motor, amplitude-change speed reducer, amplitude-changing drum, luffing wiring train, amplitude variation trolley and raising suspension hook；
The luffing driving device is connected with luffing motor, and the luffing motor is connected with amplitude-change speed reducer again, and the luffing subtracts
Fast machine is connected with amplitude-changing drum, and the amplitude-changing drum is connected with luffing wiring train, the luffing wiring train and amplitude variation trolley
It is connected, amplitude variation trolley is connected with raising suspension hook again.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810190173.2A CN108383008A (en) | 2018-03-07 | 2018-03-07 | Tower crane setting-up control method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810190173.2A CN108383008A (en) | 2018-03-07 | 2018-03-07 | Tower crane setting-up control method and system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111813085A (en) * | 2020-07-10 | 2020-10-23 | 义乌恒邦建筑智能科技有限公司 | Tower crane frequency conversion module identification device and method |
| CN113094823A (en) * | 2021-03-23 | 2021-07-09 | 中联重科股份有限公司 | Tower crane rotary impact optimization method and device, control equipment and tower crane |
| CN114084797A (en) * | 2021-11-19 | 2022-02-25 | 徐州建机工程机械有限公司 | Control method, system and device for multi-lifting multi-amplitude tower crane and storage medium |
| CN114084799A (en) * | 2021-11-22 | 2022-02-25 | 徐州建机工程机械有限公司 | Triple protection system and method for multi-lifting synchronous safety control of tower crane |
| CN114634108A (en) * | 2022-05-17 | 2022-06-17 | 杭州未名信科科技有限公司 | Tower crane robot rotation control method and system |
| CN117361359A (en) * | 2022-06-21 | 2024-01-09 | 张家港市申联建设机械有限公司 | Method and system for determining lifting speed of tower crane |
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| CN111813085A (en) * | 2020-07-10 | 2020-10-23 | 义乌恒邦建筑智能科技有限公司 | Tower crane frequency conversion module identification device and method |
| CN111813085B (en) * | 2020-07-10 | 2024-04-26 | 浙江恒邦电气科技有限公司 | Tower crane frequency conversion module identification device and method |
| CN113094823A (en) * | 2021-03-23 | 2021-07-09 | 中联重科股份有限公司 | Tower crane rotary impact optimization method and device, control equipment and tower crane |
| CN114084797A (en) * | 2021-11-19 | 2022-02-25 | 徐州建机工程机械有限公司 | Control method, system and device for multi-lifting multi-amplitude tower crane and storage medium |
| CN114084799A (en) * | 2021-11-22 | 2022-02-25 | 徐州建机工程机械有限公司 | Triple protection system and method for multi-lifting synchronous safety control of tower crane |
| CN114634108A (en) * | 2022-05-17 | 2022-06-17 | 杭州未名信科科技有限公司 | Tower crane robot rotation control method and system |
| CN114634108B (en) * | 2022-05-17 | 2023-06-16 | 杭州未名信科科技有限公司 | Tower crane robot rotation control method and system |
| CN117361359A (en) * | 2022-06-21 | 2024-01-09 | 张家港市申联建设机械有限公司 | Method and system for determining lifting speed of tower crane |
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Application publication date: 20180810 |