CN110980556A - Control method and device for jacking and leveling of tower crane and tower crane - Google Patents
Control method and device for jacking and leveling of tower crane and tower crane Download PDFInfo
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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
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Abstract
The invention relates to the field of engineering machinery, discloses a control method and device for jacking leveling of a tower crane and the tower crane, and solves the problems that in the prior art, the deviation between the lifting weight for jacking leveling and the required leveling weight is too large and the operation experience of jacking operators is too depended on, so that the actual jacking of the tower crane is not leveled, and major safety accidents are easily caused. The method comprises the following steps: acquiring the current length of a boom of the tower crane and the current lifted counterweight weight; searching a leveling balance weight corresponding to the length of the current cargo boom and a leveling position of the luffing trolley in a jacking leveling table of the tower crane; determining an ideal leveling position of the amplitude-variable trolley according to the weight of the counterweight, the leveling counterweight and the leveling position; and controlling the amplitude variation trolley to move to the ideal leveling position to finish jacking initial leveling. The embodiment of the invention is suitable for the initial leveling process of the jacking of the tower crane.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a control method and device for jacking and leveling of a tower crane and the tower crane.
Background
Before a tower crane (hereinafter referred to as a tower crane) starts to lift, initial leveling needs to be completed, namely, the tower crane lifts a standard knot or a heavy object with specified weight and moves the amplitude variation trolley to a specified position. However, due to the weight error of the standard knot or the weight, the existing of objective factors such as deviation between the lifting weight for jacking and leveling and the required leveling weight and the existing of subjective factors such as uneven professional literacy of jacking operators cause serious safety accidents when the connecting pin shaft between the lower support of the tower crane and the standard knot is opened, because the actual tower crane is jacked and not leveled.
Disclosure of Invention
The invention aims to provide a control method and a device for jacking and leveling of a tower crane and the tower crane, and solves the problems that in the prior art, the deviation between the lifting weight for jacking and leveling and the required leveling weight is too large and the deviation is too dependent on the operation experience of a jacking operator, so that the actual tower crane jacking is not leveled, and serious safety accidents are easily caused, the effectiveness of initial leveling of tower crane jacking and the safety of jacking operation are improved.
In order to achieve the above object, an embodiment of the present invention provides a method for controlling jacking leveling of a tower crane, where the method includes: acquiring the current length of a boom of the tower crane and the current lifted counterweight weight; searching a leveling balance weight corresponding to the length of the current cargo boom and a leveling position of the luffing trolley in a jacking leveling table of the tower crane; determining an ideal leveling position of the amplitude-variable trolley according to the weight of the counterweight, the leveling counterweight and the leveling position; and controlling the amplitude variation trolley to move to the ideal leveling position to finish jacking initial leveling.
Further, determining an ideal leveling position of the luffing trolley according to the weight of the counterweight, the leveling counterweight and the leveling position comprises: according to
Determining an ideal leveling position Lp of the amplitude variation trolley, wherein G is the leveling counterweight and L isGAnd when the tower crane comprises double jacking surfaces, d is 0.
Optionally, after determining the ideal leveling position of the luffing carriage, the method further includes: and displaying and prompting the ideal leveling position of the amplitude variation trolley by voice.
Optionally, before the amplitude variation trolley is controlled to move to the ideal leveling position, the method further comprises the following steps: and receiving a control instruction for controlling the amplitude variation trolley to move to the ideal leveling position.
Optionally, after the amplitude variation trolley is controlled to move to the ideal leveling position, the method further comprises the following steps: and prompting that the jacking initial leveling of the tower crane is completed.
Correspondingly, the embodiment of the invention also provides a control device for jacking and leveling of the tower crane, which comprises: the acquiring unit is used for acquiring the current length of a crane boom of the tower crane and the current lifted counterweight weight; the finding unit is used for finding the leveling balance weight corresponding to the length of the current cargo boom and the leveling position of the luffing trolley in a jacking leveling table of the tower crane; the processing unit is used for determining an ideal leveling position of the amplitude variation trolley according to the weight of the counterweight, the leveling counterweight and the leveling position; and the control unit is used for controlling the amplitude variation trolley to move to the ideal leveling position so as to finish jacking initial leveling.
Further, the processing unit is also configured to be based on
Determining an ideal leveling position Lp of the amplitude variation trolley, wherein G is the leveling counterweight and L isGAnd when the tower crane comprises double jacking surfaces, d is 0.
Optionally, the apparatus further comprises: the display screen is used for displaying the ideal leveling position of the amplitude variation trolley; and the first prompting unit is used for prompting the ideal leveling position of the amplitude variation trolley by voice.
Optionally, the apparatus further comprises: and the receiving unit is used for receiving a control instruction for controlling the amplitude variation trolley to move to the ideal leveling position.
Optionally, the apparatus further comprises: and the second prompting unit is used for prompting that the jacking initial leveling of the tower crane is completed.
Correspondingly, the embodiment of the invention also provides a tower crane, which comprises the control device for jacking and leveling of the tower crane.
Accordingly, the embodiment of the present invention further provides a machine-readable storage medium, where instructions are stored on the machine-readable storage medium, and the instructions are used to enable a machine to execute the control method for tower crane jacking leveling as described above.
According to the technical scheme, the current length of the crane boom and the current weight of the hoisted counterweight are obtained, the leveling counterweight corresponding to the current length of the crane boom and the leveling position of the luffing trolley are obtained by looking up a table, and then the ideal leveling position of the luffing trolley is obtained by calculation, so that the luffing trolley is controlled to move to the ideal leveling position to finish the initial leveling work of jacking the tower crane, the workload of operators is reduced, and the effectiveness of the initial leveling of jacking the tower crane and the safety of jacking operation are improved on the premise of not depending on the operation experience of the operators.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a control method for jacking and leveling of a tower crane according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a control device for jacking and leveling of a tower crane according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of another control device for controlling the jacking leveling of a tower crane according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a control device for jacking and leveling of a tower crane according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control device for jacking and leveling of a tower crane according to another embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Before the tower crane is jacked, jacking initial leveling work needs to be completed, but due to the fact that the lifting weight of jacking leveling and the required leveling weight have deviation or other objective factors such as the limitation of construction site adjustment and the like, and the jacking initial leveling work effectively completes more experiences depending on operators, but due to the fact that subjective factors such as professional literacy of the operators are different, in the later jacking process, when a connecting pin shaft between a lower support of the tower crane and a standard knot is opened, the actual jacking of the tower crane is not leveled, and serious safety accidents are possibly caused. Therefore, in the embodiment of the invention, based on the principle that the theoretical leveling torque and the actual torque of the tower crane are equal, the ideal leveling position of the amplitude variation trolley is determined through the conversion of the weight of the currently hoisted balance weight and the theoretical leveling torque, so that the jacking initial leveling of the tower crane is completed. The implementation of the embodiment of the present invention will be described in detail below.
Fig. 1 is a schematic flow chart of a control method for jacking and leveling of a tower crane according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
101, acquiring the current length of a boom and the current weight of a lifted counterweight of the tower crane;
103, determining an ideal leveling position of the luffing trolley according to the weight of the counterweight, the leveling counterweight and the leveling position;
and 104, controlling the amplitude variation trolley to move to the ideal leveling position to finish jacking initial leveling.
When the initial leveling is started, the current length of the crane boom needs to be acquired first, and the acquisition mode can be that an operator inputs the current length of the crane boom through a touch screen or other human-computer interaction interfaces, which is not limited in the embodiment of the invention. The weight of the currently hoisted counterweight can be detected by a weight sensor.
In addition, a tower crane jacking leveling table is provided in the tower crane operation manual, and the table comprises leveling counterweights and leveling positions corresponding to different crane arm lengths, so that the leveling counterweights and the leveling positions of the amplitude-variable trolley corresponding to the obtained current crane arm length can be searched in the table.
For a tower crane with a single jacking surface, the leveling counterweight of the tower crane generates a torque M relative to the jacking surfaceGCan be obtained by equation (1):
MG＝G*(LG+ d formula (1)
Wherein G is a leveling weight and L isGD is the distance from the center of the tower body of the tower crane to the jacking vertical surface.
And when the tower crane lifts the current counterweight weight Gp, assuming that the corresponding ideal leveling position is Lp, the counterweight weight generates a torque M relative to the jacking surfaceGpCan be obtained by equation (2):
MGpgp (Lp + d) formula (2)
Because other conditions except the balance weight are kept unchanged between the theoretical balance and the actual balance, in order to enable the amplitude variation trolley to reach an ideal balance position, the theoretical balance torque and the actual torque of the tower crane are equal, and the formula (3) is obtained:
G*(LG+ d ═ Gp (Lp + d) formula (3)
Obtaining formula (4) by conversion:
that is, after the weight of the counterweight, the leveling counterweight, and the leveling position are specified (d in the formula is a fixed value and can be predetermined), the ideal leveling position corresponding to the weight of the currently hoisted counterweight can be obtained through the formula (4).
In addition, when the tower crane comprises double jacking surfaces, d in the formula (4) is zero, and an ideal leveling position corresponding to the currently hoisted counterweight weight of the tower crane with the double jacking surfaces can be obtained through the formula (5):
after the ideal leveling position is obtained, the amplitude variation trolley of the tower crane can be controlled to move to the ideal leveling position, the distance between the amplitude variation trolley and the center of the tower body is detected in real time through the amplitude sensor, and when the distance is the ideal leveling position, the initial leveling of jacking of the tower crane is completed.
Optionally, after the amplitude variation trolley is moved to the ideal leveling position, the completion of the jacking initial leveling of the tower crane is prompted. In the embodiment of the present invention, the prompting mode is not limited, and the prompting mode may be a voice prompt, a buzzer prompt, or the like.
The process of automatically controlling the amplitude variation trolley to the desired leveling position can also be finished by guiding an operator. For example, after the ideal leveling position is obtained, the current position of the luffing trolley can be detected through the amplitude sensor, the ideal leveling position and the current position of the luffing trolley can be displayed through the voice prompt and the display screen so as to inform an operator, after a control instruction that the operator controls the luffing trolley to move to the ideal leveling position is received, the operator is assisted to operate the luffing mechanism to move the luffing trolley to the ideal leveling position, and after the luffing trolley reaches the ideal leveling position, the initial leveling is prompted to be completed through the voice prompt.
According to the embodiment of the invention, on the basis of the principle that the theoretical leveling torque and the actual torque of the tower crane are equal, the ideal leveling position of the amplitude-variable trolley is determined through the conversion of the weight of the currently hoisted balance weight and the theoretical leveling torque, so that the jacking initial leveling of the tower crane is completed, the workload of operators is reduced, and the effectiveness of the jacking initial leveling of the tower crane and the safety of jacking operation are improved.
Correspondingly, fig. 2 is a schematic structural diagram of a control device for jacking and leveling of a tower crane according to an embodiment of the present invention. As shown in fig. 2, the apparatus 20 includes: an obtaining unit 21, configured to obtain a current boom length of the tower crane and a current lifted counterweight weight; the searching unit 22 is used for searching the leveling balance weight corresponding to the length of the current cargo boom and the leveling position of the luffing trolley in a jacking leveling table of the tower crane; the processing unit 23 is configured to determine an ideal leveling position of the luffing trolley according to the weight of the counterweight, the leveling counterweight, and the leveling position; and the control unit 24 is used for controlling the amplitude variation trolley to move to the ideal leveling position so as to finish jacking initial leveling.
The acquiring unit can comprise a weight sensor for detecting the weight of the counterweight lifted by the tower crane at present, and can also comprise an amplitude sensor for detecting the distance from the amplitude variation trolley to the center of the tower body, namely when the control unit controls the amplitude variation trolley to move to the ideal leveling position, the amplitude sensor detects that the position reached by the amplitude variation trolley is equal to the ideal leveling position, and then the jacking initial leveling is completed.
Optionally, the processing unit is further configured to, according to
Determining an ideal leveling position Lp of the amplitude variation trolley, wherein G is the leveling counterweight and L isGAnd when the tower crane comprises double jacking surfaces, d is 0.
Optionally, as shown in fig. 3, the apparatus further includes: the display screen 31 is used for displaying the ideal leveling position of the amplitude variation trolley; and the first prompt unit 32 is used for prompting the ideal leveling position of the amplitude variation trolley by voice. Optionally, the display screen may be a touch display screen for inputting the current boom length. The first prompting unit can be realized by a voice module or a buzzer.
Optionally, as shown in fig. 4, the apparatus further includes: and the receiving unit 41 is used for receiving a control instruction for controlling the amplitude variation trolley to move to the ideal leveling position.
Optionally, as shown in fig. 5, the apparatus further includes: and the second prompting unit 51 is used for prompting that the jacking initial leveling of the tower crane is completed. The second prompting unit can be realized by a voice module or a buzzer.
The searching unit, the processing unit and the control unit can be stored in a PLC (Programmable logic controller) or other control systems or controllers of the tower crane, and the movement of the luffing trolley is controlled by combining a linkage table and a luffing mechanism of the tower crane. The amplitude changing mechanism can be controlled by a frequency converter, and other control modes can also be used.
According to the embodiment of the invention, the current boom length and the current lifted counterweight weight obtained by the obtaining unit are utilized, the leveling counterweight corresponding to the current boom length and the leveling position of the luffing trolley are found by the searching unit, the ideal leveling position corresponding to the current lifted counterweight weight is obtained by the processing unit, and the luffing trolley is controlled by the control unit to move to the ideal leveling position to finish jacking initial leveling. The embodiment of the invention solves the problems that in the prior art, the deviation between the lifting weight of the jacking leveling and the required leveling weight is too large and the deviation is too dependent on the operation experience of a jacking operator, so that the jacking of the actual tower crane is not leveled, and serious safety accidents are easily caused, reduces the workload of the operator, and improves the effectiveness of the initial leveling of the jacking of the tower crane and the safety of the jacking operation on the premise of not depending on the operation experience of the operator.
Correspondingly, the embodiment of the invention also provides a tower crane, which comprises the control device for jacking and leveling of the tower crane.
Correspondingly, the embodiment of the present invention further provides a machine-readable storage medium, where the machine-readable storage medium has instructions stored thereon, and the instructions are used to enable a machine to execute the control method for jacking and leveling of a tower crane according to the above-mentioned embodiment of the present application.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes a control method for jacking and leveling of a tower crane during running.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the control method for jacking and leveling of the tower crane is realized when the processor executes the program. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing the method steps involved in the control of tower crane jacking leveling as described above, when executed on a data processing device.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (12)
1. A control method for jacking and leveling of a tower crane is characterized by comprising the following steps:
acquiring the current length of a boom of the tower crane and the current lifted counterweight weight;
searching a leveling balance weight corresponding to the length of the current cargo boom and a leveling position of the luffing trolley in a jacking leveling table of the tower crane;
determining an ideal leveling position of the amplitude-variable trolley according to the weight of the counterweight, the leveling counterweight and the leveling position;
and controlling the amplitude variation trolley to move to the ideal leveling position to finish jacking initial leveling.
2. The tower crane jacking leveling control method according to claim 1, wherein determining the ideal leveling position of the luffing trolley according to the counterweight weight, the leveling counterweight and the leveling position comprises:
according to
Determining an ideal leveling position Lp of the amplitude variation trolley, wherein G is the leveling counterweight and L isGAnd when the tower crane comprises double jacking surfaces, d is 0.
3. The method for controlling the jacking leveling of the tower crane according to claim 1, wherein after determining the ideal leveling position of the luffing carriage, the method further comprises:
and displaying and prompting the ideal leveling position of the amplitude variation trolley by voice.
4. The method for controlling the jacking leveling of the tower crane according to claim 1, wherein before the controlling the luffing carriage to move to the ideal leveling position, the method further comprises:
and receiving a control instruction for controlling the amplitude variation trolley to move to the ideal leveling position.
5. The method for controlling the jacking leveling of the tower crane according to claim 1, wherein after controlling the luffing carriage to move to the ideal leveling position, the method further comprises:
and prompting that the jacking initial leveling of the tower crane is completed.
6. The utility model provides a controlling means of tower crane jacking leveling which characterized in that, the device includes:
the acquiring unit is used for acquiring the current length of a crane boom of the tower crane and the current lifted counterweight weight;
the finding unit is used for finding the leveling balance weight corresponding to the length of the current cargo boom and the leveling position of the luffing trolley in a jacking leveling table of the tower crane;
the processing unit is used for determining an ideal leveling position of the amplitude variation trolley according to the weight of the counterweight, the leveling counterweight and the leveling position;
and the control unit is used for controlling the amplitude variation trolley to move to the ideal leveling position so as to finish jacking initial leveling.
7. The control device for jacking leveling of a tower crane according to claim 6, wherein said processing unit is further configured to control the leveling of the tower crane according to
Determining an ideal leveling position Lp of the amplitude variation trolley, wherein G is the leveling counterweight and L isGAnd when the tower crane comprises double jacking surfaces, d is 0.
8. The control device for jacking and leveling of a tower crane according to claim 6, further comprising:
the display screen is used for displaying the ideal leveling position of the amplitude variation trolley;
and the first prompting unit is used for prompting the ideal leveling position of the amplitude variation trolley by voice.
9. The control device for jacking and leveling of a tower crane according to claim 6, further comprising:
and the receiving unit is used for receiving a control instruction for controlling the amplitude variation trolley to move to the ideal leveling position.
10. The control device for jacking and leveling of a tower crane according to claim 6, further comprising:
and the second prompting unit is used for prompting that the jacking initial leveling of the tower crane is completed.
11. A tower crane, characterized in that it comprises a control device for the leveling of the tower crane jacking according to any of the claims 6-10.
12. A machine-readable storage medium having stored thereon instructions for causing a machine to execute the method of controlling the jacking leveling of a tower crane according to any one of claims 1-5.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111517224A (en) * | 2020-04-17 | 2020-08-11 | 中联重科股份有限公司 | Pin shaft monitoring method and device for tower crane jacking operation |
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| CN103708359A (en) * | 2013-12-17 | 2014-04-09 | 中联重科股份有限公司 | Jacking control method, system and device of tower crane and tower crane |
| CN105253775A (en) * | 2015-10-26 | 2016-01-20 | 中联重科股份有限公司 | Tower crane jacking trim control system, method and device and tower crane |
| CN109573838A (en) * | 2018-12-10 | 2019-04-05 | 中联重科股份有限公司 | Method and device for monitoring jacking state of tower crane and tower crane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111517224A (en) * | 2020-04-17 | 2020-08-11 | 中联重科股份有限公司 | Pin shaft monitoring method and device for tower crane jacking operation |
| CN111517224B (en) * | 2020-04-17 | 2021-08-03 | 中联重科股份有限公司 | Pin shaft monitoring method and device for tower crane jacking operation |
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