CN111017740B - Crane, tower arm control method and tower arm control device - Google Patents
Crane, tower arm control method and tower arm control device Download PDFInfo
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- CN111017740B CN111017740B CN201911310731.5A CN201911310731A CN111017740B CN 111017740 B CN111017740 B CN 111017740B CN 201911310731 A CN201911310731 A CN 201911310731A CN 111017740 B CN111017740 B CN 111017740B
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- included angle
- tower arm
- arm
- angle
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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
- B66C23/06—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 mounted for jibbing or luffing movements
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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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
- B66C23/60—Derricks
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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
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
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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
- B66C23/88—Safety gear
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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
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
- B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides a crane, a tower arm control method and a tower arm control device, and relates to the technical field of engineering machinery. When the main arm stretches, the controller acquires an actual included angle between the tower arm and the mast structure; and adjusting the winding and unwinding speed of the winch according to the comparison result of the actual included angle and the preset safe included angle range so as to enable the actual included angle to be stabilized in the preset safe included angle range. In the tower arm control device, an acquisition module is used for acquiring an actual included angle between a tower arm and a mast structure; the control module is used for adjusting the winding and unwinding speed of the winch according to the comparison result of the actual included angle and the preset safe included angle range. The crane, the tower arm control method and the tower arm control device can facilitate coordinated control of the winch and the main arm, can effectively prevent the mast structure from inclining forwards due to over-release of the winch and avoid the risk of tipping the whole vehicle due to over-retraction of the winch and the rise of the tower arm from the ground in the main arm stretching process, are convenient to operate and have good reliability.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a crane, a tower arm control method and a tower arm control device.
Background
For the crane with a longer tower arm, because the tower arm is longer and has larger mass, the front end of the tower arm needs to be ensured to be grounded in a period of time in the initial arm lifting process, so that the crane is prevented from inclining forwards. In the process, in order to ensure that the front end of the tower arm always contacts the ground, an operator needs to coordinate and control the main arm and the tower arm to hoist so as to prevent the tower arm from being pulled up to cause forward tilting risk, and the operation is complex and the reliability is poor.
Disclosure of Invention
The invention aims to provide a crane, a tower arm control method and a tower arm control device, which are more convenient to operate in the arm lifting process and have good reliability.
The embodiment of the invention is realized by the following steps:
an embodiment of the present invention provides a crane, including:
the device comprises a vehicle body, a telescopic main arm arranged on the vehicle body, a tower arm connected to the main arm, a mast structure connected to the main arm and a winch arranged on the vehicle body, wherein the winch can pull the mast structure through a rope so as to drive the tower arm to rotate;
the tower arm is provided with a first angle sensor, the mast structure is provided with a second angle sensor, the first angle sensor is used for detecting an included angle between the tower arm and the horizontal plane, and the second angle sensor is used for detecting an included angle between the mast structure and the horizontal plane;
the first angle sensor and the second angle sensor are both in communication with the controller, the hoist is electrically connected with the controller, the controller is configured to:
when the main arm extends, acquiring an actual included angle between the tower arm and the mast structure according to angle detection data of the first angle sensor and the second angle sensor; and adjusting the rope releasing speed of the winch according to the comparison result of the actual included angle and the preset safety included angle range so as to enable the actual included angle to fall into the preset safety included angle range and further guarantee that the tower arm contacts the ground.
In an alternative embodiment, the mast structure comprises a front mast and a rear mast connected to the front mast, the front mast and the rear mast being respectively hinged to the main boom, the front mast being located between the tower arm and said rear mast, the hoisting rope being connected to the rear mast, the second angle sensor being arranged at the front mast or at the rear mast.
In an alternative embodiment, the second angle sensor is arranged on the front mast, and the preset safety included angle is in a range of 70-80 degrees.
In an alternative embodiment, the second angle sensor is spaced from the position where the front mast is hinged to the main arms by no more than 1/4 times the length of the front mast.
In an alternative embodiment, the mast structure comprises a front mast, a rear mast connected to the front mast, and an auxiliary mast connected to the rear mast, the front mast, the rear mast, and the auxiliary mast being respectively hinged to the main boom, the front mast being located between the tower arm and the rear mast, the rear mast being located between the front mast and the auxiliary mast, the hoisting rope being connected to the rear mast and being snapped into the auxiliary mast, the second angle sensor being provided at either the front mast or the rear mast or the auxiliary mast.
In an alternative embodiment, the distance between the first angle sensor and the position where the tower arm is hinged to the main arm is no greater than 1/4 times the length of the tower arm.
In an alternative embodiment, the controller is further configured to: when the main arm is shortened, acquiring an actual included angle between the tower arm and the mast structure according to angle detection data of the first angle sensor and the second angle sensor; and adjusting the rope winding speed of the winch according to the comparison result of the actual included angle and the preset safe included angle range so that the actual included angle falls into the preset safe included angle range.
The embodiment of the invention also provides a tower arm control method which is used for a crane, when a main arm extends, an actual included angle between a tower arm and a mast structure is obtained according to angle detection data of the first angle sensor and the second angle sensor; and adjusting the rope releasing speed of the winch according to the comparison result of the actual included angle and the preset safety included angle range so as to enable the actual included angle to fall into the preset safety included angle range and further guarantee that the tower arm contacts the ground.
In an optional embodiment, when the main arm is shortened, acquiring an actual included angle between the tower arm and the mast structure according to angle detection data of the first angle sensor and the second angle sensor; and adjusting the rope winding speed of the winch according to the comparison result of the actual included angle and the preset safe included angle range so that the actual included angle falls into the preset safe included angle range.
The embodiment of the invention also provides a tower arm control device which is used for the crane, the tower arm control device comprises an acquisition module and a control module, and the acquisition module is used for acquiring the actual included angle between the tower arm and the mast structure when the main arm extends; the control module is used for adjusting the rope releasing speed of the winch according to the comparison result of the actual included angle and the preset safety included angle range, so that the actual included angle falls into the preset safety included angle range to ensure that the tower arm contacts the ground.
The embodiment of the invention has the beneficial effects that:
the crane comprises a vehicle body, a telescopic main arm arranged on the vehicle body, a tower arm connected to the main arm, a mast structure connected to the main arm and a winch arranged on the vehicle body, wherein the winch can pull the mast structure through a rope so as to drive the tower arm to rotate. The tower arm is provided with first angle sensor, and the mast structure is provided with second angle sensor, and first angle sensor is used for detecting the contained angle of tower arm and horizontal plane, and second angle sensor is used for detecting the contained angle of mast structure and horizontal plane. The first angle sensor and the second angle sensor are both in communication with the controller, the hoist is electrically connected with the controller, the controller is configured to: when the main arm extends, acquiring an actual included angle between the tower arm and the mast structure according to angle detection data of the first angle sensor and the second angle sensor; and adjusting the rope releasing speed of the winch according to the comparison result of the actual included angle and the preset safety included angle range so as to enable the actual included angle to fall into the preset safety included angle range and further guarantee that the tower arm contacts the ground. The tower arm control method comprises the steps that when a main arm extends, an actual included angle between a tower arm and a mast structure is obtained according to angle detection data of a first angle sensor and a second angle sensor; and adjusting the rope releasing speed of the winch according to the comparison result of the actual included angle and the preset safety included angle range so as to enable the actual included angle to fall into the preset safety included angle range and further guarantee that the tower arm contacts the ground. The tower arm control device comprises an acquisition module and a control module, wherein the acquisition module is used for acquiring an actual included angle between the tower arm and the mast structure when the main arm extends; the control module is used for adjusting the rope releasing speed of the winch according to the comparison result of the actual included angle and the preset safety included angle range, so that the actual included angle falls into the preset safety included angle range to ensure that the tower arm contacts the ground. When the crane extends the main arm at the initial arm lifting stage, the tower arm and the vehicle body need to be ensured to touch the ground simultaneously so as to prevent the whole crane from tipping because the gravity center of the tower arm is lifted unstably, and when the actual included angle between the tower arm and the mast structure is within the preset range, the tower arm can be ensured to be in a state of touching the ground. Therefore, the crane is through setting up first angle sensor and second angle sensor respectively on tower arm and mast structure in order to obtain the actual contained angle of tower arm and mast structure, compare actual contained angle and preset safe contained angle scope through the controller and control the rope speed of unreeling of hoisting, the change of the angle between tower arm and the mast structure can be influenced in the regulation of rope speed of unreeling of hoisting, make the actual contained angle of tower arm and mast structure maintain at preset within range, so as to prevent that the contained angle between mast structure and the tower arm from changing too greatly and making the mast structure pull up the tower arm, thereby guarantee that the tower arm contacts to the ground and is supported by the ground, and then avoid the tower arm to lift up and lead to the crane to lean forward. The operation processes of main arm expansion and contraction and rope winding and unwinding are automatically coordinated under the control of the controller, operation of operators is not depended on, operation is convenient, and the control method has good reliability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a crane jib in an initial stage according to an embodiment of the invention;
FIG. 2 is an enlarged view of portion A of FIG. 1 in accordance with an embodiment of the present invention;
FIG. 3 is an enlarged view of portion B of FIG. 1 in accordance with an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a crane tower arm before being lifted off the ground in an embodiment of the invention;
FIG. 5 is a flow chart of a tower arm control method according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating sub-steps of step S102 according to an embodiment of the present invention;
fig. 7 is a block diagram of a tower arm control device according to an embodiment of the present invention.
Icon: 100-a crane; 110-a vehicle body; 120-a main arm; 130-tower arm; 132-a first angle sensor; 136-a dolly; 140-a mast structure; 141-front mast; 142-a second angle sensor; 143-back mast; 145-auxiliary mast; 146-a pulling plate; 150-hoisting; 152-a rope; 200-an obtaining module; 210-control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in when used, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, 2 and 3, the present embodiment provides a crane 100, which includes a vehicle body 110, a telescopic jib 120 disposed on the vehicle body 110, a tower arm 130 connected to the jib 120, a mast structure 140 connected to the jib 120, and a winch 150 disposed on the vehicle body 110, wherein the winch 150 can pull the mast structure 140 through a rope 152 to rotate the tower arm 130. The tower arm 130 is provided with a first angle sensor 132, the mast structure 140 is provided with a second angle sensor 142, the first angle sensor 132 is used for detecting the angle between the tower arm 130 and the horizontal plane, and the second angle sensor 142 is used for detecting the angle between the mast structure 140 and the horizontal plane. The first angle sensor 132 and the second angle sensor 142 are each in communication with a controller, the winch 150 is electrically connected to the controller, and the controller is configured to: when the jib 120 extends, acquiring an actual included angle between the tower jib 130 and the mast structure 140 according to angle detection data of the first angle sensor 132 and the second angle sensor 142; and adjusting the rope releasing speed of the winch 150 according to the comparison result of the actual included angle and the preset safe included angle range so that the actual included angle falls into the preset safe included angle range, thereby ensuring that the tower arm 130 contacts the ground and preventing the whole crane 100 from tipping forwards.
The main arm 120 is hinged to the vehicle body 110 and is extendable and retractable, and the tower arm 130 is hinged to a top end of the main arm 120. The winch 150 includes a winch drum disposed on the vehicle body 110 and a rope 152, and the winch drum is electrically connected to the controller. The cable 152 is connected to the mast structure 140, the mast structure 140 is hinged to the top end of the jib 120, and the mast structure 140 and the tower arm 130 are connected by the pulling plate 146, so that the winch 150 can rotate the mast structure 140 by releasing or retracting the cable to drive the tower arm 130 to rotate, so that the end of the tower arm 130 away from the jib 120 can be lowered or lifted.
When the tower arm 130 is long, the tower arm 130 is easily deformed. The first angle sensor 132 is provided to the tower arm 130. The first angle sensor 132 may be a tilt sensor for detecting an angle between the tower arm 130 and a horizontal plane. In the present embodiment, in order to reduce the influence of the deformation of the tower arm 130 on the angle detection, it is preferable that the distance between the first angle sensor 132 and the position where the tower arm 130 is hinged to the main arm 120 is not greater than 1/4 of the length of the tower arm 130, so that the first angle sensor 132 is located in the position area of the tower arm 130 near the root, and even if the tower arm 130 is deformed, the deformation of the area is small, the error of the angle detection can be reduced, and the control precision and the operation precision can be improved. The end of the tower arm 130 remote from the main arm 120 is provided with a dolly 136, and the dolly 136 is provided with a roller so as to be movable along the ground, so that the tower arm 130 can reduce friction when moving to the ground.
In this embodiment, the mast structure 140 includes a front mast 141, a back mast 143 connected to the front mast 141, and an auxiliary mast 145 connected to the back mast 143. The front mast 141, the back mast 143, and the auxiliary mast 145 are respectively hinged to the jib 120, the front mast 141 is located between the tower arm 130 and the back mast 143, and the back mast 143 is located between the front mast 141 and the auxiliary mast 145. The top of the front mast 141 is connected to one end of the tower arm 130 far away from the main jib 120 and the top of the rear mast 143 through the pull plate 146, and the front mast 141, the rear mast 143 and the pull plate 146 form a triangular support structure together, so that the triangular support structure has a stable support effect, and a pulling force can be stably applied to one end of the tower arm 130 far away from the main jib 120. The rope 152 of the winch 150 is connected to the back mast 143 and is fastened to the auxiliary mast 145, so that the winch 150 can drive the back mast 143 and the auxiliary mast 145 to rotate by releasing or retracting the rope, and further drive the front mast 141 to rotate, and finally the front mast 141 applies force to one end of the tower arm 130 far away from the main jib 120 through the pulling plate 146, so as to pull up or put down the tower arm 130. In the present embodiment, the second angle sensor 142 is provided on the front mast 141. The second angle sensor 142 is a tilt sensor for detecting an angle between the front mast 141 and a horizontal plane. Therefore, the difference between the angles detected by the first angle sensor 132 and the second angle sensor 142 is the included angle between the tower arm 130 and the front mast 141, and the predetermined safe included angle range is 70 ° to 80 ° when the second angle sensor 142 is disposed on the front mast 141. The preferred angular range is derived from experiments and calculations.
In the initial stage of the jib lifting, since the tower jib 130 is too long and the crane is liable to tip over when being lifted, the main jib 120 is extended to a target length, and then the crane is lifted off the ground by the regular jib lifting. The rope unwinding speed of the winch 150 is controlled during the extension of the main jib 120 to ensure that the end of the tower arm 130 away from the main jib 120 is grounded and not pulled up by the mast structure 140, and the traveling vehicle 136 on the tower arm 130 can travel along the ground. When the main arm 120 extends in the initial boom raising period of the crane 100, the first angle sensor 132 and the second angle sensor 142 detect the actual angle between the tower arm 130 and the front mast 141, and determine whether the angle is 70 ° to 80 °. If the angle between the tower arm 130 and the front mast 141 is reasonable, the rope unwinding speed of the winch 150 is proper, the front mast 141 does not apply excessive pulling force to the end of the tower arm 130 far away from the main arm 120, and the tower arm 130 is supported by the ground while being grounded, so that the risk of the crane 100 tipping forwards is reduced. At this time, the controller does not need to adjust the payout speed of the winch 150. If the actual included angle is greater than 80 °, it is determined that the rope unwinding speed is too slow, which results in an increased included angle between the front mast 141 and the tower arm 130, and the front mast 141 generates a large pulling force on the tower arm 130, so that one end of the tower arm 130 far from the main arm 120 is pulled up, causing a risk of tipping the entire vehicle. Theoretically, the angle between the front mast 141 and the tower arm 130 is controlled within a range not greater than 80 ° to ensure that the tower arm 130 is in a grounding state, and the entire vehicle does not have a risk of tipping forward, but in this embodiment, the angle between the front mast 141 and the tower arm 130 is also required to be controlled within a range not less than 70 °, because if the angle between the front mast 141 and the tower arm 130 is too small, the front mast 141 is in an excessively forward tilting state, so that the front mast 141 is easily out of support, and a tensile force cannot be effectively applied to the tower arm 130 subsequently, so that the tower arm 130 fails to be pulled relative to the tower arm 130, and the subsequent arm-lifting operation is seriously affected. Therefore, to ensure that the front mast 141 always drives the tower arm 130 effectively, the safety angle is preset in the present embodiment to be in the range of 70 ° to 80 °. In other embodiments, the preset safe included angle range may be set appropriately according to the actual lengths of the front mast 141 and the tower arm 130, and it is only necessary to ensure that the tower arm 130 is in a grounding state when the actual included angle between the tower arm 130 and the front mast 141 is within the preset safe included angle range.
In the present embodiment, to ensure the accuracy of the angle detection, the distance between the second angle sensor 142 and the position where the front mast 141 is hinged to the jib 120 is not greater than 1/4 of the length of the front mast 141. By arranging the second angle sensor 142 at a position close to the root of the mast, it is possible to avoid deformation causing detection errors, thereby improving the accuracy of the detection result, and avoiding affecting other wires or components on the mast structure 140.
In addition, since the mast structure 140 is supported by the winch 150 pulling the rear mast 143 and the rear mast 143 pulling the front mast 141, the angles between the front mast 141, the rear mast 143, and the auxiliary mast 145 should be kept fixed. Therefore, when stabilizing the angle between the back mast 143 and the tower arm 130 or the angle between the auxiliary mast 145 and the tower arm 130, the front mast 141 can be ensured to be in a proper position and posture without pulling up the tower arm 130, and therefore, the second angle sensor 142 can be also arranged on the back mast 143 or the auxiliary mast 145 to detect the angle between the back mast 143 or the auxiliary mast 145 and the tower arm 130, thereby ensuring that the mast structure 140 does not pull up the tower arm 130. That is, the second angle sensor 142 can be provided on any one of the front mast 141, the rear mast 143, or the auxiliary mast 145, and can be used to detect the position and attitude status of the mast structure 140 to ensure that the tower arm 130 is not lifted. In addition, angle sensors may be simultaneously provided on at least two of the front mast 141, the back mast 143, or the auxiliary mast 145, a plurality of angle sensors may cooperatively detect an angle to ensure detection accuracy, and some of the angle sensors may serve as backup sensors to improve reliability of the apparatus.
In other embodiments, the mast structure 140 may comprise only a front mast 141 and a rear mast 143 connected to the front mast 141, the front mast 141 and the rear mast 143 being respectively hinged to the mast 120, the front mast 141 being located between the tower arm 130 and said rear mast 143, the rope 152 of the winch 150 being connected to the rear mast 143, and the second angle sensor 142 being arranged on the front mast 141 or the rear mast 143.
The crane 100 needs to retract the tower arm 130 after completing the work. In the process of retracting the tower arm 130, the main arm 120 is shortened first to bring the traveling vehicle 136 of the tower arm 130 into contact with the ground, and after the tower arm 130 is supported by the ground, the main arm 120 is further shortened to further collapse the tower arm 130. After the tower arm 130 contacts the ground, the shortening action of the main jib 120 and the rope retracting speed of the winch 150 need to be coordinated, so that the mast structure 140 is kept in a proper posture, and the situation that the rope retracting speed is too slow, so that the rope 152 is too loose, the mast structure 140 is excessively inclined forwards, the supporting function is lost, namely the control on the tower arm 130 is lost, and the subsequent use of the crane 100 is not facilitated is prevented; and to prevent the tower arm 130 from being pulled up due to the too high rope-winding speed, and to prevent the vehicle body 110 from tipping forward.
Accordingly, the controller is further configured to: when the jib 120 is shortened, acquiring an actual included angle between the tower jib 130 and the mast structure 140 according to angle detection data of the first angle sensor 132 and the second angle sensor 142; the rope retracting speed of the winch 150 is adjusted according to the comparison result of the actual included angle and the preset safe included angle range so that the actual included angle falls within the preset safe included angle range, thereby preventing the mast structure 140 from excessively leaning forward and preventing the tower arm 130 from being lifted off the ground.
It is understood that the controller may be provided separately or integrated into the main control cabinet of the crane 100. The rope releasing speed and rope retracting speed of the winch 150 are adjusted by controlling and adjusting the current of the winch pump to adjust the rotating speed of the winch drum.
Referring to fig. 5 and 6, an embodiment of the invention further provides a tower control method for a crane 100, when a main jib 120 extends, acquiring an actual included angle between a tower jib 130 and a mast structure 140 according to angle detection data of a first angle sensor 132 and a second angle sensor 142; and adjusting the rope releasing speed of the winch 150 according to the comparison result of the actual included angle and the preset safe included angle range so that the actual included angle falls into the preset safe included angle range to ensure that the tower arm 130 contacts the ground. Specifically, the tower arm control method comprises the following steps:
step S101: when the master jib 120 is extended, acquiring an actual included angle between the tower jib 130 and the mast structure 140;
before the actual included angle between the tower arm 130 and the mast structure 140 is obtained, the included angle between the tower arm 130 and the mast structure 140 relative to the horizontal plane is detected by using the first angle sensor 132 and the second angle sensor 142, and the actual included angle between the tower arm 130 and the mast structure 140 can be obtained by subtracting the two included angles.
Step S102: adjusting the rope releasing speed of the winch 150 according to the comparison result of the actual included angle and the preset safety included angle range;
the step of adjusting the rope releasing speed of the winch 150 according to the comparison result of the actual included angle and the preset safe included angle range comprises the following steps:
comparing the actual included angle with a preset safe included angle range, and if the actual included angle is larger than the maximum value of the preset safe included angle range, executing the step S103: controlling the winch 150 to increase the rope unwinding speed until the included angle between the tower arm 130 and the mast structure 140 is adjusted to be within the preset safe included angle range;
if the actual included angle is smaller than the minimum value of the preset safe included angle range, executing step S104: the winch 150 is controlled to reduce the rope unwinding speed until the included angle between the tower arm 130 and the mast structure 140 is adjusted to be within the preset safe included angle range along with the extension of the main jib 120.
In the present embodiment, when the master jib 120 is shortened, the actual angle between the tower jib 130 and the mast structure 140 is obtained based on the angle detection data of the first angle sensor 132 and the second angle sensor 142; and adjusting the rope winding speed of the winch 150 according to the comparison result of the actual included angle and the preset safe included angle range so that the actual included angle falls into the preset safe included angle range. Specifically, the tower arm control method further includes:
when the main jib 120 is shortened, first the actual angle between the tower jib 130 and the mast structure 140 is obtained;
and then the rope winding speed of the winch 150 is adjusted according to the comparison result of the actual included angle and the preset safe included angle range.
Wherein the step of adjusting the rope winding speed of the winch 150 according to the comparison result of the actual included angle and the preset safe included angle range comprises: comparing the actual included angle with the preset safe included angle range, if the actual included angle is larger than the maximum value of the preset safe included angle range, controlling the winch 150 to reduce the rope winding speed until the included angle between the tower arm 130 and the mast structure 140 is adjusted to be within the preset safe included angle range along with the shortening of the main arm 120; if the actual included angle is smaller than the minimum value of the preset safe included angle range, the winch 150 is controlled to increase the rope winding speed until the included angle between the tower arm 130 and the mast structure 140 is adjusted to be within the preset safe included angle range.
Referring to fig. 7, an embodiment of the present invention further provides a tower arm control device for a crane 100, where the tower arm control device includes an obtaining module 200 and a control module 210. The acquisition module 200 is used to acquire the actual angle between the tower arm 130 and the mast structure 140 when the jib 120 is extended. The control module 210 is configured to adjust the rope releasing speed of the winch 150 according to a comparison result between the actual included angle and the preset safe included angle range, so that the actual included angle falls within the preset safe included angle range, thereby ensuring that the tower arm 130 contacts the ground, and preventing the tower arm 130 from being pulled by the mast structure 140 to cause the forward tilting risk of the crane 100. In this embodiment, the acquiring module 200 is configured to execute step S101 and step S201, and the control module 210 is configured to execute step S102 and step S202.
The working principle and working process of the crane 100 are as follows:
the crane 100 is initially armed, with the main arm 120 fixed at the desired inclination and first extended to the target length. During extension of the main arm 120, the first angle sensor 132 and the second angle sensor 142 detect the angle in real time and transmit the angle data to the controller. The controller calculates the difference between the two values to obtain the actual included angle between the tower arm 130 and the front mast 141. The controller stores a preset safe included angle range, and the controller can compare the actual included angle with the preset safe included angle range. When the main arm 120 extends, if the actual included angle is larger than the maximum value of the preset safe included angle range, the controller controls the winch 150 to increase the rope unwinding speed until the included angle between the tower arm 130 and the mast structure 140 is adjusted to be within the preset safe included angle range, so that the tower arm 130 is ensured to be grounded and not pulled up, and the car body 110 and the tower arm 130 are both supported by the ground, and therefore, the car body cannot tip over. If the actual included angle is smaller than the minimum value of the preset safe included angle range, the controller controls the winch 150 to reduce the rope unwinding speed, and the rope unwinding speed is reduced along with the extension of the main arm 120 until the included angle between the tower arm 130 and the mast structure 140 is adjusted to be within the preset safe included angle range, so that the mast structure 140 is ensured to have a proper posture without excessively leaning forward, the tower arm 130 is prevented from being out of control due to the loss of the supporting function, and the influence on the subsequent arm lifting is prevented. When the main arm 120 is extended to a target length, as shown in fig. 4, the main arm 120 has the ability to stably lift the tower arm 130, and thus, the main arm is normally lifted to pull the tower arm 130 off the ground.
After the crane 100 completes the operation, the main arm 120 is first shortened, and the tower arm 130 is lowered until the tower arm 130 touches the ground. After the tower arm 130 contacts the ground, the main arm 120 is further shortened so that the tower arm 130 is laid down to the original position. During the process of lowering the tower arm 130, the first angle sensor 132 and the second angle sensor 142 perform real-time detection of the angle and transmit the angle data to the controller. The controller calculates the difference between the two values to obtain the actual included angle between the tower arm 130 and the front mast 141. The controller can compare the actual included angle with a preset safe included angle range. When the main arm 120 is shortened, if the actual included angle is larger than the maximum value of the preset safe included angle range, the controller controls the winch 150 to reduce the rope retracting speed, and the included angle between the tower arm 130 and the mast structure 140 is adjusted to be within the preset safe included angle range along with the shortening of the main arm 120, so that the tower arm 130 is guaranteed to be always grounded and not pulled up. If the actual included angle is smaller than the minimum value of the preset safe included angle range, the controller controls the winch 150 to increase the rope winding speed until the included angle between the tower arm 130 and the mast structure 140 is adjusted to be within the preset safe included angle range, so that the mast structure 140 is ensured to have a proper posture without excessively leaning forward, the tower arm 130 is prevented from being out of control due to loss of the supporting function, and the influence on the subsequent use of the crane 100 is prevented.
The crane 100 adjusts the winding and unwinding speed of the winch 150 by controlling the angle between the tower arm 130 and the mast structure 140 so that the actual angle is stabilized within the preset safe angle range. In the main jib telescoping process, the mast structure 140 is kept at a proper posture and position, so that the mast structure 140 is effectively prevented from inclining forwards due to the over-laying of the winch 150, and the risk of the tipping of the whole crane due to the lifting of the tower jib 130 caused by the over-retracting of the winch 150 is avoided. The tower arm control method can prevent the tower arm 130 from being pulled up to cause the forward tipping of the crane 100 at the initial arm lifting stage and the final arm retracting stage, and effectively improves the safety of the crane 100. In addition, the controller completes automatic coordination control of rope winding and unwinding of the winch 150 and stretching of the main arm 120, so that an operator does not need to take account of manual work, the operation and the use are more convenient, the control reliability of the whole crane 100 is improved, and the operation safety is ensured.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A crane, comprising:
the device comprises a vehicle body, a telescopic main arm arranged on the vehicle body, a tower arm connected to the main arm, a mast structure connected to the main arm and a winch arranged on the vehicle body, wherein the winch can pull the mast structure through a rope so as to drive the tower arm to rotate;
the tower arm is provided with a first angle sensor, the mast structure is provided with a second angle sensor, the first angle sensor is used for detecting an included angle between the tower arm and a horizontal plane, and the second angle sensor is used for detecting an included angle between the mast structure and the horizontal plane;
the first angle sensor and the second angle sensor are both in communication with a controller, the hoist is electrically connected with the controller, the controller is configured to:
when the main arm extends, acquiring an actual included angle between the tower arm and the mast structure according to angle detection data of the first angle sensor and the second angle sensor; and adjusting the rope releasing speed of the winch according to the comparison result of the actual included angle and the preset safety included angle range so as to enable the actual included angle to fall into the preset safety included angle range, thereby ensuring that the tower arm contacts the ground.
2. The crane of claim 1, wherein the mast structure comprises a front mast and a rear mast connected to the front mast, the front mast and the rear mast being respectively hinged to the main jib, the front mast being located between the tower arm and the rear mast, the hoisting rope being connected to the rear mast, the second angle sensor being provided at the front mast or the rear mast.
3. The crane according to claim 2, wherein the second angle sensor is disposed on the front mast, and the preset safety angle is in a range of 70 ° to 80 °.
4. The crane of claim 3, wherein the second angle sensor is spaced from a position at which the front mast is hingedly connected to the main jib by a distance of no more than 1/4 of the length of the front mast.
5. The crane as claimed in claim 1, wherein the mast structure comprises a front mast, a rear mast connected to the front mast, and an auxiliary mast connected to the rear mast, the front mast, the rear mast, and the auxiliary mast being respectively hinged to the main jib, the front mast being located between the tower arm and the rear mast, the rear mast being located between the front mast and the auxiliary mast, the hoisting rope being connected to the rear mast and being snapped onto the auxiliary mast, the second angle sensor being provided at the front mast or the rear mast or the auxiliary mast.
6. The crane as claimed in claim 1, wherein the distance between the first angle sensor and the position where the tower arm is hinged to the main arm is no greater than 1/4 for the length of the tower arm.
7. The crane of claim 1, wherein the controller is further configured to: when the main arm is shortened, acquiring an actual included angle between the tower arm and the mast structure according to angle detection data of the first angle sensor and the second angle sensor; and adjusting the rope winding speed of the winch according to the comparison result of the actual included angle and the preset safe included angle range so as to enable the actual included angle to fall into the preset safe included angle range.
8. A tower control method for a crane according to any one of claims 1-7, wherein when the main jib is extended, an actual angle between the tower jib and the mast structure is obtained based on angle detection data of the first angle sensor and the second angle sensor; and adjusting the rope releasing speed of the winch according to the comparison result of the actual included angle and the preset safety included angle range so as to enable the actual included angle to fall into the preset safety included angle range, thereby ensuring that the tower arm contacts the ground.
9. The tower arm control method according to claim 8, wherein when the main arm is shortened, an actual angle between the tower arm and the mast structure is obtained based on angle detection data of the first angle sensor and the second angle sensor; and adjusting the rope winding speed of the winch according to the comparison result of the actual included angle and the preset safe included angle range so as to enable the actual included angle to fall into the preset safe included angle range.
10. A tower arm control device for a crane according to any one of claims 1-7, comprising:
an obtaining module, configured to obtain an actual included angle between the tower arm and the mast structure when the main arm is extended;
and the control module is used for adjusting the rope releasing speed of the winch according to the comparison result of the actual included angle and the preset safe included angle range, so that the actual included angle falls into the preset safe included angle range to ensure that the tower arm touches the ground.
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| CN201911310731.5A CN111017740B (en) | 2019-12-18 | 2019-12-18 | Crane, tower arm control method and tower arm control device |
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| CN201911310731.5A CN111017740B (en) | 2019-12-18 | 2019-12-18 | Crane, tower arm control method and tower arm control device |
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| JPH11157782A (en) * | 1997-11-25 | 1999-06-15 | Kobe Steel Ltd | Tower crane, its backstop device, and method for operating tower crane |
| JP3257508B2 (en) * | 1998-05-12 | 2002-02-18 | 住友重機械建機クレーン株式会社 | Crane safety device with roughing jib |
| JP4499227B2 (en) * | 2000-01-17 | 2010-07-07 | Ｉｈｉ建機株式会社 | Tower crane |
| CN102730584B (en) * | 2012-06-27 | 2014-12-10 | 三一重工股份有限公司 | Protection apparatus and protection method for principal arm of crane, and crane |
| CN203237960U (en) * | 2013-05-08 | 2013-10-16 | 中联重科股份有限公司 | Boom anti-tilting mechanism, crane boom comprising boom anti-tilting mechanism and engineering crane |
| DE102014012422B4 (en) * | 2014-08-20 | 2023-02-09 | Liebherr-Werk Ehingen Gmbh | Automatic erection of a crane |
| JP6558399B2 (en) * | 2017-07-24 | 2019-08-14 | コベルコ建機株式会社 | crane |
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