CN114132853B

CN114132853B - Safety control method and system for hoisting equipment

Info

Publication number: CN114132853B
Application number: CN202011209140.1A
Authority: CN
Inventors: 刘宏亮; 付玲; 尹莉; 刘延斌
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2020-11-03
Filing date: 2020-11-03
Publication date: 2022-08-30
Anticipated expiration: 2040-11-03
Also published as: CN114132853A

Abstract

The invention provides a safety control method and a safety control system for hoisting equipment, and belongs to the technical field of engineering machinery. The method comprises the following steps: determining a hoisting operation stage of hoisting equipment, and selecting a target direction of movement of a counterweight in the hoisting operation stage; carrying out the hoisting operation in the hoisting operation stage and carrying out continuous counterweight movement in the target direction; acquiring a counterweight parameter corresponding to the counterweight movement and a hoisting parameter corresponding to the hoisting operation; and determining whether to execute the safety control of the hoisting operation and/or determining whether to execute the existing safety control release of the hoisting operation according to the matching degree of the increment size of the counterweight parameter and the increment size of the hoisting parameter. The invention is used for safety control of hoisting equipment.

Description

Safety control method and system for hoisting equipment

Technical Field

The invention relates to the technical field of engineering machinery, in particular to a safety control method of hoisting equipment, a safety control system of the hoisting equipment, electronic equipment, the engineering machinery and a computer readable storage medium.

Background

At present, cranes, including mobile cranes, all-terrain cranes, crawler cranes, etc., are inconvenient to use with fixed counterweights in the hoisting process, and are increasingly difficult to meet the various hoisting requirements of the adaptive hoisting operation. In order to improve the use efficiency of the counterweight, improve the lifting capability, and reduce the counterweight transportation and installation cost, it is considered to improve the conventional fixed counterweight into a variable stroke counterweight moving forward and backward.

The movable counterweight can change the counterweight position in real time according to the change of the hoisting weight in the hoisting process to provide a balance moment, and the stability of the hoisting system is maintained. Compared with a fixed counterweight, the movable counterweight can enlarge the lifting capacity of the crane under the condition of the same counterweight size, and can flexibly adjust the counterweight position to keep the gravity center of the system always in the rotating support range, so that the lifting stability is improved; however, in the actual hoisting operation, there are complex operation characteristics, the hoisting weight or moment is not constant in the hoisting operation, it is difficult for the movable counterweight to actually keep the balance of the hoisting equipment and maintain the balance state, and the hoisting equipment is safe if not kept in balance in the operation.

Disclosure of Invention

The invention aims to provide a safety control method and a safety control system for hoisting equipment, which are used for avoiding the difficulty in keeping the moment balance of the hoisting equipment under the counterweight control and the hoisting control caused by the complex and variable hoisting change conditions in the actual hoisting operation, and further improving the operation stability and the safety of the hoisting equipment.

In order to achieve the above object, an embodiment of the present invention provides a safety control method for a hoisting device, where the safety control method includes:

determining a hoisting operation stage of hoisting equipment, and selecting a target direction of movement of a counterweight in the hoisting operation stage;

the hoisting operation in the hoisting operation stage is executed, and the continuous counterweight movement in the target direction is executed;

acquiring counterweight parameters corresponding to the counterweight movement and hoisting parameters corresponding to the hoisting operation;

and determining whether to execute the safety control of the hoisting operation and/or determining whether to execute the existing safety control release of the hoisting operation according to the matching degree of the increment size of the counterweight parameter and the increment size of the hoisting parameter.

Specifically, the determining of the hoisting operation stage of the hoisting device includes:

judging the hoisting operation stage of the hoisting equipment according to at least one of the hoisting moment change of the hoisting equipment and the command input by a manipulator, wherein,

the hoisting operation stage comprises a lifting operation stage, an upward amplitude variation operation stage, a downward amplitude variation operation stage and a lowering operation stage.

Specifically, the selecting of the target direction of the movement of the counterweight in the hoisting operation stage includes any one of the following:

selecting the target direction of the movement of the counterweight in the lifting operation stage or the downward luffing operation stage as an extrapolation direction, wherein,

the lifting operation stage is a lifting winch operation stage, and the downward amplitude variation operation stage is a downward amplitude variation winch operation stage;

selecting the target direction of the movement of the counterweight in the downward operation stage or the upward luffing operation stage as the adduction direction, wherein,

the lowering operation stage is a lowering winch operation stage, the upward luffing operation stage is an upward luffing winch operation stage, and the adduction direction is the reverse direction of the extrapolation direction.

Specifically, after the obtaining of the counterweight parameter corresponding to the counterweight movement and the hoisting parameter corresponding to the hoisting operation, and before the determining whether to execute the safety control of the hoisting operation and/or determining whether to execute the existing safety control release of the hoisting operation according to the matching degree of the increment size of the counterweight parameter and the increment size of the hoisting parameter, the method further includes:

determining that the hoisting parameter reaches a threshold hoisting parameter corresponding to the counterweight parameter on any one of a middle upper threshold line and a middle lower threshold line, and executing safety control of the hoisting operation,

the middle upper threshold value line and the middle lower threshold value line form a control safety range, the control safety range belongs to a safety limit range,

the safety limit range is composed of an upper threshold line and a lower threshold line within an extreme weight parameter range corresponding to the weight parameter,

the upper threshold value line and the lower threshold value line are respectively two overturning critical value relation lines which are respectively formed by an upper threshold value suspension load parameter and a lower threshold value suspension load parameter which are obtained by calculating through front and rear overturning shafts under the overturning critical condition of the hoisting equipment and in the extreme value counterweight parameter range and each counterweight parameter in the extreme value counterweight parameter range,

the middle upper threshold value line and the middle lower threshold value line are not intersected in the extreme value counterweight parameter range and are not intersected with any overturning critical value relation line in the extreme value counterweight parameter range.

Specifically, after determining that the hoisting parameter reaches the threshold hoisting parameter corresponding to the counterweight parameter on any one of the middle upper threshold line and the middle lower threshold line, and after performing the safety control of the hoisting operation, and before determining whether to perform the safety control of the hoisting operation and/or determining whether to perform the existing safety control release of the hoisting operation according to the matching degree between the increment size of the counterweight parameter and the increment size of the hoisting parameter, the method further includes:

continuously performing a continuous counterweight movement in the target direction;

determining that a counterweight parameter after continuously performing continuous counterweight movement in the target direction reaches a threshold counterweight parameter corresponding to the sling parameter on the other of the upper-middle threshold line and the lower-middle threshold line;

and executing safety control release of the hoisting operation.

determining that the hoisting parameter reaches a mid-threshold hoisting parameter corresponding to the counterweight parameter on a mid-threshold line, and executing safety control of the hoisting operation or executing an existing safety control release of the hoisting operation, wherein,

the middle threshold value line is an optimal moment matching value relation line obtained by carrying out moment balance calculation through a suspension moment and a counterweight adjusting moment by taking the rotation center of the hoisting equipment as a supporting point.

Specifically, the determining whether to execute the safety control of the hoisting operation and/or determining whether to execute the existing safety control release of the hoisting operation according to the matching degree of the increment size of the counterweight parameter and the increment size of the hoisting parameter includes:

determining that the increment of the hoisting parameter exceeds the increment range of the balance hoisting parameter, and executing safety control of the hoisting operation,

the increment range of the balance hoisting parameters is obtained through the increment value range of the balance hoisting moment,

the balance hoisting moment is that the counterweight adjusting moment corresponding to the counterweight parameter is in moment balance or approximate moment balance,

the increment value range of the balance hoisting moment is obtained by carrying out moment balance or approximate moment balance calculation on the increment value of the balance hoisting moment and the increment value of the counterweight adjusting moment.

Specifically, after determining the increment of the hoisting parameter, which exceeds the increment range of the balanced hoisting parameter, and performing safety control on the hoisting operation, and when determining whether to perform the existing safety control release of the hoisting operation, the method includes:

determining that the increment size of the counterweight parameter after continuously executing the continuous counterweight movement in the target direction exceeds the increment size range of the balance counterweight parameter, and executing safety control release of the hoisting operation, wherein,

the increment range of the balance weight parameter is obtained through the increment value range of the balance weight adjusting moment,

the balance counterweight adjusting moment is that the suspension moment corresponding to the suspension parameters after the safety control of the suspension operation is executed is in moment balance or approximate moment balance,

the increment of the balance weight adjusting moment is obtained by carrying out moment balance or approximate moment balance calculation on the increment of the balance weight adjusting moment and the increment of the suspension load moment.

determining that the increment of the hoisting parameter is matched with the increment of the medium-threshold hoisting parameter, and executing safety control of the hoisting operation or executing the existing safety control release of the hoisting operation, wherein,

and the increment of the intermediate threshold hoisting parameter is obtained through the increment of the counterweight parameter and the intermediate threshold line.

Specifically, the determination of the increment of the hoisting parameter is matched with the increment of the intermediate threshold hoisting parameter, and the safety control of the hoisting operation is executed or the existing safety control release of the hoisting operation is executed, wherein,

the hoisting operation stage is any amplitude-variable operation stage.

Specifically, the safety control for performing the hoisting operation includes one or more of the following:

performing suspension of the hoisting operation while continuing to perform the target direction or performing continuous counterweight movement of the redetermined target direction;

performing deceleration of the hoisting operation while continuing to perform the target direction or performing continuous counterweight movement of the re-determined target direction;

the maintenance of the hoisting work is performed while continuously performing the continuous counterweight movement in the target direction.

Specifically, the hoisting parameters include hoisting weight and/or hoisting moment, and the counterweight parameters include counterweight moving distance.

An embodiment of the present invention provides a safety control system for a hoisting device, where the safety control system includes:

the main control module is used for determining a hoisting operation stage of the hoisting equipment and selecting a target direction of movement of a counterweight in the hoisting operation stage;

a counterweight control module to perform continuous counterweight movement in the target direction;

the hoisting control module is used for executing the hoisting operation in the hoisting operation stage;

the hoisting control module is used for acquiring a counterweight parameter corresponding to the counterweight movement and a hoisting parameter corresponding to the hoisting operation;

and the hoisting control module is used for determining whether to execute the safety control of the hoisting operation and determining whether to execute the existing safety control release of the hoisting operation according to the matching degree of the increment size of the counterweight parameter and the increment size of the hoisting parameter.

In another aspect, an embodiment of the present invention provides an electronic device, where the electronic device includes:

at least one processor;

a memory coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the aforementioned method by executing the instructions stored by the memory.

In another aspect, an embodiment of the present invention provides a construction machine, where the construction machine has the electronic device.

In yet another aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions, which, when executed on a computer, cause the computer to perform the foregoing method.

The invention carries out the counterweight movement in the target direction aiming at the hoisting operation stage, the counterweight movement is carried out along with the hoisting operation, the counterweight adjusting moment provided by the continuous counterweight movement can be utilized to measure whether the hoisting moment embodied by the hoisting parameters in the hoisting operation process is matched with the range for keeping the moment balance corresponding to the counterweight adjusting moment, the matching degree of the increment is equivalent to the detection whether the variation trend of the counterweight parameters and the hoisting parameters does not accord with the variation trend of the safety operation, the counterweight is carried out along with the hoisting operation, and the invention has the control characteristic of the cyclic control-release process, thereby realizing the hoisting operation process of the dynamic balance of the hoisting equipment, realizing the maintained dynamic safety margin, and limiting the influence caused by the sudden situations such as the hoisting moment variation, the external environment variation and the like caused by the hoisting variation, The range that can be controlled.

The invention can realize the judgment of each operation stage according to the hanging moment change with directionality and/or the (pre-configured) manipulator input instruction, and has the characteristic of convenient general implementation.

The hoisting condition in each hoisting operation stage can be reflected by the operation characteristics of the hoisting equipment, and meanwhile, the movement of the counter weight can be realized through the linear motion, so that the method has the characteristics of good universality and good practicability and is convenient to build.

According to the moment balance control method and device, through the moment balance characteristics corresponding to the hoisting load parameters and the counterweight parameters, the middle upper threshold line and the middle lower threshold line are combined, the moment balance of the hoisting equipment is prevented from being damaged due to the fact that the increment of the counterweight parameters such as the counterweight moving speed or counterweight adjusting moment change is continuously and asynchronously matched with the increment of the hoisting load parameters such as the hoisting loading speed or the hoisting moment change, the moment dynamic balance of the hoisting equipment in a full-control safety range is achieved, and the safety control efficiency and the continuous hoisting operation maintainability of the hoisting equipment are improved.

According to the invention, through the torque balance characteristics corresponding to the hoisting parameters and the counterweight parameters and by combining the middle threshold line, the real-time torque balance of the hoisting equipment can be provided, and the method has higher safety control efficiency and higher hoisting operation efficiency.

The invention provides a method for measuring the hoisting parameters, and the increment range of the balance hoisting parameters matched with the counterweight parameters can be found by utilizing the moment balance relation between the hoisting moment and the counterweight adjusting moment, so that whether the change of the current hoisting parameters deviates or not can be determined.

The invention provides a method for judging whether safety control operation needs to be intervened or not by measuring the suspension load parameters through the middle threshold value line, which has a better operation space for safety control, particularly for variable amplitude operation, so that the variable amplitude operation process is kept in the operation space for intervention safety control with sufficient safety margin, the control efficiency is improved, and the method has operation continuity and counterweight movement continuity.

Additional features and advantages of embodiments 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 embodiments 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 embodiments of the invention without limiting the embodiments of the invention. In the drawings:

FIG. 1 is a schematic diagram of an exemplary control flow of an embodiment of the present invention;

FIG. 2 is a schematic diagram illustrating changes in the lifting moment and the movement distance of the counterweight of the hoisting apparatus during the counterweight and lifting linkage control according to the embodiment of the present invention;

FIG. 3 is a schematic diagram illustrating changes in the lifting moment and the movement distance of the counterweight of the lifting apparatus during the counterweight and lifting linkage control according to the embodiment of the present invention;

fig. 4 is a schematic diagram illustrating changes in the lifting moment and the movement distance of the counterweight of the lifting apparatus in the counterweight and lifting linkage control and judgment in combination with each threshold line according to the 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 embodiments of the invention, are given by way of illustration and explanation only, not limitation.

Example 1

The embodiment of the invention provides a counterweight dynamic balance safety control scheme under continuous operation of a crane based on operation stage characteristics, which aims at the problems that the conventional crane needs to carry out efficient safety control for hoisting operation by adopting a movable counterweight to improve hoisting capacity and hoisting stability, is difficult to carry out lifting and counterweight linkage control aiming at the stage characteristics of lifting, lowering and amplitude variation in the hoisting process (lifting can refer to the process that the load is increased from 0 to the total weight of the lifted weight, and lowering can refer to the process that the lifting weight is increased from the total weight of the weight to the total weight of all the landing lifting weights to 0), is difficult to finish counterweight continuous movement and continuous operation control, and not only can an overall control strategy be provided, but also a lifting and counterweight dynamic balance linkage control scheme under corresponding characteristics can be provided according to different operation stages.

In order to realize continuous movement of the counterweight and continuous operation of hoisting (the executed hoisting operation stage has to be changed into another hoisting operation stage due to safety reasons before the operation is not completed, such as the operation in the hoisting operation stage is changed into the operation in the lowering operation stage, and the suspension can be allowed in the continuous operation), avoid operations such as suspension or adjustment of the counterweight movement, improve the operation efficiency, and solve the problem that the suspension load change condition and the counterweight change condition are not matched.

The embodiment of the invention provides a safety control method of hoisting equipment, which comprises the following steps: determining a hoisting operation stage of hoisting equipment, and selecting a target direction of movement of a counterweight in the hoisting operation stage; carrying out the hoisting operation in the hoisting operation stage and carrying out continuous counterweight movement in the target direction; acquiring a counterweight parameter corresponding to the counterweight movement and a hoisting parameter corresponding to the hoisting operation; and determining whether to execute the safety control of the hoisting operation and determining whether to execute the existing safety control release of the hoisting operation according to the matching degree of the increment size of the counterweight parameter and the increment size of the hoisting parameter.

For determining the hoisting operation stage, there may be various ways, for example, the current hoisting operation stage may be determined according to the hoisting change information monitoring data (such as an increase, a decrease or an invariance of the hoisting moment) of the hoisting equipment, or the current hoisting operation stage may be determined directly according to the manipulator operation instruction, such as pulling the control handle to pull up the winch, or the current hoisting operation stage may be determined accurately according to the hoisting change information monitoring data and the manipulator operation instruction, where the hoisting operation stage includes a hoisting operation stage, an upward amplitude-changing operation stage, a downward amplitude-changing operation stage and a downward amplitude-changing operation stage, and the current hoisting operation stage may be a hoisting operation stage, a downward amplitude-changing operation stage or an upward amplitude-changing operation stage The lower isotropic description may be embodied differently according to the specific reference position, and may be generally downward toward the ground and upward away from the ground. In some cases, specific division can be performed according to the stress characteristics of the hoisting under specific working conditions, such as the operation stages are divided individually under the walking working conditions of the automobile crane.

For selecting the target direction of the counterweight movement in the hoisting operation stage, the target direction of the counterweight movement in the hoisting operation stage may be selected according to characteristics of a counterweight mechanism of a specific hoisting device, for example, the hoisting device may have one or more counterweight devices and one or more hoisting devices for hoisting operation, the counterweight device may include a counterweight (or a counterweight) and a driving mechanism, the counterweight may be driven by the driving mechanism and may perform a linear motion, and at this time, the target direction of the counterweight movement may be a direction along the linear motion; the selection operation can be realized by a control system of the hoisting equipment or by a manipulator; the selection operation can be performed by a control instruction of the hoisting equipment, for example, when or after the hoisting operation stage is determined, the selection operation can be performed by a control system of the hoisting equipment in a background according to the control instruction corresponding to the current hoisting operation stage, and the control instruction can be obtained together with the aforesaid operation instruction of the manipulator, in this way, the manipulator can pay more attention to the operation of the hoisting operation without considering the operation related to the movement of the counterweight; for example, the hoisting equipment may be provided with a control button or a pull rod for selecting the target direction, and the control button or the pull rod may be operated by the robot at least once before, simultaneously with, or after the hoisting operation stage is determined, so that the operation of selecting the target direction for moving the counterweight may be completed.

In the implementation of the present invention, the target direction of the movement of the counterweight in the lifting operation stage or the downward variable-amplitude operation stage may be an outward-pushing direction, where the lifting operation stage is a lifting hoisting operation stage, the downward variable-amplitude operation stage is a downward variable-amplitude hoisting operation stage, the hoisting device may have a lifting and lowering hoisting control function and an upward and downward variable-amplitude hoisting control function, the hoisting device may be equipped with multiple hoisting devices or control multiple hoisting devices to implement hoisting operation in each hoisting operation stage, the outward-pushing direction may be a direction in which the counterweight is far away from any center or central axis (e.g., a turntable central axis) in the hoisting device, and the far-away operation may be constrained by the driving mechanism; the target direction of movement of the counterweight in the downward operation stage or the upward luffing operation stage may be selected as an inward-retracting direction, where the downward operation stage is a downward hoisting operation stage, the upward luffing operation stage is an upward luffing hoisting operation stage, the inward-retracting direction is a direction opposite to the outward-pushing direction, the inward-retracting direction may be a direction in which the counterweight moves closer to any one center or central axis (e.g., a central axis of the turntable) in the hoisting equipment, and the approaching operation may be restricted by the driving mechanism.

The hoisting operation in the hoisting operation stage and the continuous counterweight movement in the target direction can be synchronous, asynchronous or waiting, the two can be executed simultaneously in the synchronous process, and the two can be executed successively in the asynchronous process.

For obtaining the counterweight parameter corresponding to the counterweight movement and the suspension parameter corresponding to the suspension operation, the counterweight parameter and the suspension parameter may have different definitions due to different sensors or different data processing modes of the sensors, but the counterweight parameter may be a counterweight adjusting moment or any parameter describing a counterweight adjusting moment and/or a moment change, and the suspension parameter may be a suspension moment or any parameter describing a suspension moment and/or a moment change. For the intervention counterweight movement with waiting, in some cases, fixed waiting time (such as values suitable for actual hoisting operation, e.g. 1 second, 2 seconds, 3 seconds, etc.) can be configured, and counterweight movement in a target direction is started after the waiting time, so that the method is suitable for actual situations such as more hoisting operation characteristics and hoisting equipment structural characteristics, and has better control flexibility.

The counterweight device and the hoisting device can be provided with one or more sensing devices, the sensing devices can be provided with a plurality of sensors, and the sensing devices can provide counterweight parameters and hoisting parameters or data for calculating the counterweight parameters and the hoisting parameters; the increment of the counterweight parameter may be a change of the counterweight parameter during the process of executing the continuous counterweight movement in the target direction, and may be obtained in real time or within a defined unit time (second or minute), and such a change may also be described by a numerical change speed of the counterweight parameter (for example, a numerical change speed of the counterweight parameter corresponding to the acquisition of the running speed of the linear motion mechanism); the increment of the hoisting parameter is the change of the hoisting parameter in the process of executing the hoisting operation, and can be obtained in real time or in defined unit time, and the change can also be described by the numerical change speed of the hoisting parameter (for example, the numerical change speed of the corresponding hoisting parameter is obtained by acquiring the running speed of a winch); the degree of match may be a numerical range that measures the magnitude of the deviation.

In the embodiment of the present invention, whether to intervene in safety control may be determined according to a matching degree between an increment size of a counterweight movement distance and an increment size of a suspended load weight, and for the matching degree, it may be determined that an increment size of a suspended load parameter exceeds an increment size range of a balanced suspended load parameter with respect to each counterweight adjusting moment and a corresponding suspended load moment in a moment balance state of the hoisting apparatus (where, the counterweight adjusting moment and the suspended load moment at this time may be respectively referred to as a balanced counterweight adjusting moment and a balanced suspended load moment), and safety control of the hoisting operation is performed, where the increment size range of the balanced suspended load parameter is obtained by an increment size value range of the balanced suspended load moment, for example, if the balanced suspended load parameter is the suspended load moment, the two ranges may be taken as a uniform range; the increment value range of the balance hoisting moment is obtained by performing moment balance or approximate moment balance calculation on the increment value of the balance hoisting moment and the increment value of the counterweight adjusting moment, for example, a balance point value of the increment value of the balance hoisting moment can be obtained, and a point value and a neighborhood range (or a value in a defined neighborhood range of the point value) thereof can be obtained.

Specifically, the change condition of the counterweight adjusting torque can be embodied by the counterweight moving distance, the hoisting torque can be embodied by the hoisting weight or the amplitude corresponding to the winch, the numerical value of the increment size of the hoisting weight or the amplitude is completely consistent with the increment size of the counterweight moving distance, or the numerical value is considered to be consistent in a certain range, the range can be selected according to specific safety requirements and specific hoisting equipment conditions, for example, the range is within the range of plus or minus 5% -30% of the numerical value corresponding to the exemplary torque balance (namely, at this moment, the approximate torque balance is considered, the matching condition can be met if the numerical value is not required to be completely equal), if the increment size of the hoisting parameter is judged to exceed the increment size range of the balanced hoisting parameter, namely, the moment is not matched, the current change condition of the hoisting parameter is determined to be not in accordance with the safety operation, the safety control can be intervened, if the change conditions of the current hoisting parameters are matched with the safe operation, the safe control can be avoided.

For example, if the loading speed of the hoisting equipment is too high and the movement of the counterweight equipment is basically constant during the hoisting operation, the change of the hoisting moment is too high, the change speed of the counterweight adjusting moment is not enough, the moment balance is difficult to keep with the hanging load moment which changes too fast, namely the increment of the hanging load parameter exceeds the increment (or range) of the balance hanging load parameter corresponding to the balance hanging load moment which can keep balance by the counterweight adjusting moment, if the current matching degree is not matched, the safety control of the hoisting operation is determined to be executed, such as deceleration or suspension loading of hoisting equipment, the hoisting equipment can be used as a representative of typical equipment for hoisting operation, and is not only controlled, and the movable mechanisms or equipment of the hoisting equipment participating in the hoisting operation can perform corresponding similar control processes, which is the same as the content of the implementation of the invention.

The foregoing matching or mismatching condition may be continuous, the dynamic continuously-matched increment of the counterweight parameter and the increment of the suspended load parameter may indicate that the trend of the current variation of the counterweight parameter and the suspended load parameter is consistent with the safety operation, the safety margin is sufficient or the possible risk can be sufficiently limited by performing the safety control operation, and the continuously-unmatched increment of the counterweight parameter and the increment of the suspended load parameter may indicate that the trend of the current variation of the counterweight parameter and the suspended load parameter is not consistent with the safety operation, if the trend continues, the safety margin is reduced or the effectiveness of the safety control operation is affected, the trend may be regarded as a trend that will break the moment balance of the hoisting equipment, and a critical condition with an overturning risk may be reached, therefore, the specific operation of the safety control may be further implemented corresponding to the continuous condition, for example, if there is an instantaneous mismatch between the two aforementioned parameters in terms of the magnitude of the increment, a deceleration operation (in terms of the relative hoisting machine operating speed) may be involved as the current safety control operation, and if there is a continuous mismatch, a pause operation may be further involved as the current safety control operation, that is, even if there is an applied safety control operation, the same or a different safety control operation may still be applied again on the basis of the applied safety control operation, for example, on the basis of decelerating the hoisting device for hoisting operation.

Continuous counterweight movement in the target direction may be continuously performed after safety control (of the lifting work) is applied, determining whether to perform an existing safety control release of the lifting work; specifically, the movement of the counterweight is continuously performed; determining the increment of the counterweight parameter after continuously executing the counterweight movement, exceeding the increment range of the counterweight parameter, and executing the safety control release of the hoisting operation, wherein the increment range of the counterweight parameter is obtained through the increment range of the counterweight adjusting torque, the counterweight adjusting torque is obtained by performing torque balance or approximate torque balance calculation on the hoisting torque corresponding to the hoisting parameter after executing the safety control of the hoisting operation, and the increment range of the counterweight adjusting torque is obtained by performing torque balance or approximate torque balance calculation on the increment of the counterweight adjusting torque and the increment of the hoisting torque, wherein the torque balance calculation modes can be various, and simply, the hoisting equipment can be subjected to stress analysis in a coordinate system, the method can be completed through geometric relation and stress.

As shown in fig. 2, Δ d is the increment of the hoisting moment (the hoisting parameter at this time), Δ p is the increment of the counterweight moving distance (the counterweight parameter at this time), the parameter line is the numerical trajectory of the counterweight moving distance and the hoisting moment, during the hoisting operation, the hoisting moment changes too fast, and there is a variation trend t that does not conform to the safe operation, the hoisting equipment is applied with a safety control (such as a control point C) in the hoisting operation, the safety control can be the operation of the deceleration hoisting equipment (or can be gradually decelerated to pause), the increment of the hoisting parameter can be very small or zero at this time, the hoisting moment is not changed or changed little at this time, the balance counterweight adjusting moment corresponding to the unchanged or less changed hoisting moment can also be basically unchanged or changed little, the corresponding balance counterweight parameter should also be basically unchanged or changed little, and the counterweight is continuously extrapolated (or adducted), the increment of the counterweight parameter exceeds the increment (or range) of the counterweight parameter, the change of the counterweight side exceeds the change of the hoisting side, and the change trend t' which does not accord with the safety operation exists, the safety control release (such as a release point R) for executing the hoisting operation is determined, wherein the original speed loading of the hoisting equipment can be continued, and in addition, for the safety control release, the loading of the hoisting equipment can be gradually restored in some cases, but the full speed restoration can not be immediately restored.

As shown in fig. 3, the hoisting operation stage may be a hoisting operation stage, the hoisting torque is greatly changed, and the change of the counterweight adjustment torque realized by the movement of the counterweight is difficult to match, at this time, the parameter point ti will make the change trend of the parameter line conform to the trend of t1, and the trend of t1 will continuously have a safety risk, so that the hoisting operation can be safely controlled near the position with the approximate torque balance of the current counterweight movement distance, as shown in the control point C1, the applied safety control may be suspension loading hoisting equipment, the counterweight movement distance continuously increases along with extrapolation, the counterweight adjustment torque will also increase, the parameter point ti will make the change trend of the parameter line conform to the trend of t2, and the hoisting torque is basically unchanged in the process and continues until the counterweight adjustment torque reaches or exceeds the counterweight adjustment torque with the approximate torque balance corresponding to the hoisting torque, and releasing the applied safety control, converting the variation trend of the parameter line from the trend of t3 to the trend of meeting t4 by the parameter point ti, circularly executing dynamic balance control according to the above contents, further having a control point C2, converting the trend to the trend of meeting t5, and repeating the steps to finish the hoisting operation in the whole hoisting operation stage.

It should be noted that, for the embodiment of determining whether to execute the safety control of the hoisting operation and/or determining whether to execute the existing safety control releasing step of the hoisting operation according to the matching degree of the increment size of the counterweight parameter and the increment size of the hoisting parameter, in some application scenarios, first, for the matching degree, besides the calculation of the moment balance or the approximate moment balance, the matching degree value of the parameter increment size of the proper hoisting equipment can be set according to the acquisition characteristics of the sensing equipment and the specific safety control operation of the configuration of the hoisting equipment, for example, the ratio value obtained by the ratio of the variable quantity of the counterweight parameter to the variable quantity of the suspended load parameter in the sensing acquisition interval, and performing safety control and safety control release by comparing the ratio with a set proper matching degree value.

Second, an existing safety control release that determines whether to perform the hoist job may be performed regardless of whether safety control was once applied. For example, if the safety control has not been applied, it may be returned directly that the safety control release is not performed; for another example, if safety control has not been applied and can be configured to merely pause at this time, the determination step of whether to release may not be performed; for another example, if safety control was applied and the safety control may be deceleration, a determination may be made as to whether further safety control is to be performed or whether release is to be performed, at which time, if the degree of matching reflects a need for further deceleration or suspension, the determining operation regarding safety control may return to performing further deceleration or suspension, and the determining operation regarding release may return not to performing safety control release.

Any of the above steps may be set as a cyclic execution process according to specific situations, and in particular, the steps from the step of obtaining the counterweight parameter corresponding to the counterweight movement and the hoisting parameter corresponding to the hoisting operation to the step of determining whether to execute the safety control of the hoisting operation and the existing safety control release are performed, so that the method has a better dynamic balance characteristic, "control-release-control-release … …".

In some implementations, whether to perform safety control of the hoisting equipment may be further determined in consideration of a magnitude relationship between the current values of the counterweight parameter and the hoisting parameter and the safety threshold, so that the operation safety of the hoisting equipment may be ensured.

Specifically, after the obtaining of the counterweight parameter corresponding to the counterweight movement and the hoisting parameter corresponding to the hoisting operation, and before determining whether to execute the safety control of the hoisting operation according to the matching degree between the increment size of the counterweight parameter and the increment size of the hoisting parameter, the method further includes:

determining that the hoisting parameter reaches a threshold hoisting parameter corresponding to the counterweight parameter on any one of a middle upper threshold line and a middle lower threshold line (the threshold hoisting parameter may include a middle upper threshold hoisting parameter and a middle lower threshold hoisting parameter), executing safety control of the hoisting operation,

wherein the middle upper threshold line and the middle lower threshold line constitute a control safety range, the control safety range belongs to a safety limit range,

the safety limit range is composed of an upper threshold line and a lower threshold line in an extreme value counterweight parameter range corresponding to the counterweight parameter,

the upper threshold line and the lower threshold line are respectively two overturning critical value relationship lines which are respectively formed by an upper threshold value hoisting parameter and a lower threshold value hoisting parameter which are obtained by calculating through a front overturning shaft and a rear overturning shaft under the overturning critical condition of the hoisting equipment and in the extreme value counterweight parameter range and each counterweight parameter in the extreme value counterweight parameter range,

In some cases, the coordinate system may have a coordinate abscissa axis perpendicular to the center axis of rotation of the lifting apparatus, the left and right sides of the coordinate ordinate axis may be front and rear sides of the lifting apparatus, and the front and rear overturning axes may be straight lines in the left and right sides, which may be a critical boundary line (front overturning axis) that the suspension moment is too large to cause the lifting apparatus to tilt toward the suspended object side and a critical boundary line (rear overturning axis) that the counterweight adjusting moment is too large to cause the lifting apparatus to tilt toward the rear side, respectively.

The upper threshold line and the lower threshold line can be calculated and determined according to a front overturning shaft and a rear overturning shaft (the suspension arm side can be front) of specific hoisting equipment, the front overturning shaft and the rear overturning shaft can be determined according to positions of a front fulcrum and a rear fulcrum of the lower part of the hoisting equipment, a front boundary and a rear boundary of a rotary support and a bearing capacity range of a boom system, the middle threshold line is obtained by moment balance calculation with a rotary support central point of the hoisting equipment as a moment balance calculation fulcrum, the middle threshold line can be an optimal moment matching numerical relation line, numerical relations between a moving distance of a counterweight and a suspension moment are reflected on the optimal moment matching numerical relation line when the counterweight adjusting moment and the suspension moment are in moment balance, the middle upper threshold line and the middle lower threshold line (the upper middle upper threshold line, the middle lower threshold line and the middle threshold line can be arranged relative to a coordinate system), and the names of the middle upper threshold line, the middle lower threshold line and the middle threshold line are calculated according to an expert experience database and a standard rule, The hoisting load size, the counterweight size, the crane boom length, the self weight and other boom system information, the working condition information, the working environment information and the like are comprehensively determined, in some cases, the middle upper threshold line and the middle lower threshold line can also be simply selected, for example, for the middle upper threshold line, a line close to the upper threshold line is selected as the middle upper threshold line in a range determined by the middle upper threshold line and the middle lower threshold line, for the approach, in a coordinate system, the hoisting load parameter is a longitudinal axis, the counterweight parameter is a transverse axis, the distance between the intersection point of the upper threshold line and any one vertical line and the intersection point of the middle upper threshold line and any one vertical line is smaller than the distance between the intersection point of the middle threshold line and any one vertical line and the intersection point of the middle upper threshold line and any one vertical line and the any one vertical line, and the middle upper threshold line and any one vertical line can be considered as the middle upper threshold line being close to the upper threshold line.

Any one of the upper threshold line, the lower threshold line, the middle upper threshold line, the middle lower threshold line, and the middle threshold line in the above description may be one line or a plurality of lines, and the line type may be a straight line or a curved line (as the upper-middle threshold line is selected as a curved line, when the safety margin is unevenly distributed, a larger safety margin may be required for some working stages, which are represented on the middle upper threshold line, and the corresponding upper-middle threshold line segment of the working stage may be convex or curved toward the middle threshold line); the upper threshold line and the lower threshold line may be one line or a plurality of lines almost overlapping or close to each other, respectively; the middle upper threshold line may be any one or more lines within a range formed by the middle threshold line and the upper threshold line in the aforementioned coordinate system, and the any one or more lines may be disjoint from the upper threshold line and the middle threshold line; similarly, the middle lower threshold line may be any one or more lines within a range formed by the lower threshold line and the middle threshold line in the aforementioned coordinate system, and the any one or more lines may be disjoint from the lower threshold line and the middle threshold line; here, the above condition may be satisfied at least in a range of the counterweight moving distance (i.e., an extreme value counterweight parameter range corresponding to one counterweight parameter in the embodiment of the present invention), which may be referred to as a counterweight stroke, and it may be considered that the counterweight adjusting moment corresponding to the counterweight moving is within a range of the safe operation, and the upper and lower threshold hoisting parameters on the upper and lower threshold lines and the middle and lower threshold hoisting parameter embody the threshold parameter that just meets the safe operation, in short, the threshold parameter is a suitable safe threshold parameter, and therefore, it may be determined whether the hoisting operation meets the safe operation by determining whether the current hoisting parameter reaches the threshold hoisting parameter corresponding to the current counterweight moving distance on either one of the upper and lower threshold lines, thereby determining whether the intervention of the safe control is required, if the current hoisting operation is not achieved, the trend judgment step can be carried out, namely whether the safety control of the hoisting operation is executed or not is determined according to the matching degree of the increment size of the counterweight parameter and the increment size of the hoisting parameter.

The counterweight movement may be continuously performed after the safety control is applied, the counterweight movement may be continuously performed for some positions, and then it is determined whether or not to perform an existing safety control release of the hoist operation; specifically, the counterweight movement is continuously performed; determining that a counterweight parameter after continuously performing the counterweight movement reaches a threshold counterweight parameter corresponding to the sling parameter on the other of the upper and middle threshold lines (the threshold counterweight parameter may include an upper and middle threshold counterweight parameter and a lower and middle threshold counterweight parameter); and executing safety control release of the hoisting operation.

For example, a middle threshold line is triggered by too fast loading of the hoisting device in hoisting operation, the hoisting device is subjected to suspended safety control, after the movement of the counterweight in the original target direction is continuously executed, the counterweight adjusting moment provided by the counterweight device is gradually increased compared with that before the hoisting device is suspended, and the hoisting moment is not changed in the process until the counterweight parameter corresponding to the counterweight adjusting moment provided by the counterweight device is increased to a middle-lower threshold counterweight parameter corresponding to the hoisting parameter corresponding to the unchanged hoisting moment on the middle-lower threshold line, the counterweight adjusting moment is larger at the moment and is about to be inconsistent with the safety operation, and then the safety control release of the hoisting operation can be executed, namely the hoisting device is continuously loaded.

The medium threshold line may also be used as a reference for measuring a matching degree, specifically, it is determined that a numerical value of an increment size of the hoisting parameter is matched with a numerical value of an increment size of a medium threshold hoisting parameter corresponding to the increment size of the counterweight parameter on the medium threshold line, and safety control or release of the safety control of the hoisting operation is executed, at this time, the execution of the safety control may be to execute holding, and if the numerical value is not matched, because the hoisting equipment is actually in a better moment balance state at this time, even if there is some mismatch, the holding may be continuously executed or the suspension or the deceleration may be executed according to a specific safety requirement, because the deceleration or the suspension may be executed again when the hoisting moment or the counterweight movement distance changes to the medium or low threshold line. The method has the advantages that for the application scene of the medium threshold line, particularly for any variable amplitude operation stage of the current hoisting operation stage, the dynamic balance characteristic and the hoisting operation continuity can be better.

For performing safety control, suspension of the hoisting operation may be performed while continuing to perform the target direction or performing a continuous counterweight movement of the redetermined target direction; the deceleration of the hoisting operation can also be performed while continuing to perform the target direction or to perform a continuous counterweight movement in the redetermined target direction; it is also possible to perform the maintenance of the hoisting work while continuously performing the continuous counterweight movement in the target direction. For the same hoisting operation stage, there can be a plurality of safety controls, such as at least two of pause, deceleration and hold; the counterweight movement can be maintained all the time in the same hoisting operation stage, and only in a special emergency situation, the counterweight movement needs to be changed, the target direction can be determined again, and then the counterweight movement is carried out.

In contrast, some cranes, such as a crawler crane, have a safety control scheme that monitors the mass and the center of gravity position of each component of a system by using a relevant sensor device, and after the control system receives information of each component, the control system calculates the center of gravity position of the system and determines the position of a counterweight according to the center of gravity and the center of rotation, however, according to the implementation of the scheme, a counterweight moving direction which tends to be unstable may occur during a hoisting process, and the scheme determines the position of the counterweight based on geometrical and spatial characteristics of equipment after certain operation, that is, if there is a risk condition after the operation, it is terrible that the counterweight position is changed again to save (the formed risk condition may already cause danger, injury or accident of actual personnel and equipment); in the embodiment of the invention, the practical hoisting equipment is considered to be stressed differently in each hoisting operation stage, for example, the hoisting load (weight) can be gradually increased in the hoisting process, the hoisting load is gradually reduced in the lowering process, the amplitude-variable hoisting load weight is unchanged but the moment arm is changed after hoisting, the operation characteristics of each hoisting stage cannot cause the movement target direction of the counterweight (the counterweight cannot be adjusted back) in the control process, the unbalanced counterweight movement direction possibly occurring in the control process of the hoisting equipment is overcome, the control efficiency is obviously improved, and the safety control operation range is sufficient to prevent possible safety risks.

In some cranes, a safety control scheme is that, by pre-configuring the relationship between a working condition and an angle of a boom (such as a maximum angle and a minimum angle corresponding to one working condition), and combining monitoring of a sensor, after the angle of the boom changes, a counterweight is moved according to a pre-configured counterweight moving step length and then waits for the angle of the boom to change next time, and then a counterweight is moved with another step length, taking lifting as an example, a plurality of target position points are often set, the counterweight is suspended or adjusted according to a safety range to match the current lifting load size after being moved to a certain target position point, and then is moved to the next target position point again and matched with the next lifting load according to the lifting load change condition, so that the counterweight is moved discretely until the load is lifted completely, however, the safety control scheme is likely that no matter how to set a reasonable step length, the counterweight movement is required to match the angle of the boom, the counterweight moment corresponding to the step length may also be difficult to keep balance of actual complex and variable hoisting operation hoisting moment (the situation that the possibility of balanced hoisting moment in all hoisting characteristics cannot be kept under the actual realizable condition through the step length basically), and the counterweight position is changed only after the safety control scheme is based on the change of the boom angle, that is, if a risk working condition (the boom angle is matched with the characteristics of the actual hoisting operation after being changed) occurs in the actual operation, it is difficult to ensure whether the counterweight position can be changed at the moment to provide a designed function (the formed risk working condition may cause danger, injury or accident of actual personnel and equipment), so the scheme is difficult to realize the safety guarantee of the hoisting equipment; in the embodiment of the invention, in one hoisting operation, the movement of the counterweight can be continuous without relevance directly, can be continuous counterweight movement directly, can not be a discrete counterweight movement operation mode associated with specific sensing detection, and can not move the counterweight to each target position through the step length correspondingly set by the current monitoring sensing parameter.

In some cranes, the safety control scheme is to calculate the reasonable range of the counterweight position according to the current operation attitude, obtain the counterweight position according to the current operation attitude, actually obtain the reasonable range of the counterweight balance position in the operation attitude by using a monitoring system such as an angle sensor and a tension sensor, and judge whether the counterweight position belongs to the reasonable range, and adjust the counterweight to the reasonable range if the counterweight position does not belong to the reasonable range, however, in actual situations, the scheme basically does not consider the situation of limiting the execution of the hoisting operation, and in the case that the hoisting operation related to the current operation attitude matches the counterweight position which is not adjusted currently, a risky operation process may be formed, that is, in the hoisting process at this time, the operation safety margin of the hoisting equipment is very small, and once the external environment has bad change or the misoperation of a manipulator, the sudden change of the hoisting load size is caused, the hoisting equipment is likely to overturn integrally, and the adjustment of the counterweight position is also completely dependent on data fed back by a monitoring system after the operation of the hoisting equipment is carried out, for example, if a risk working condition is formed, danger, injury or accident of personnel and equipment is likely to be or is actually caused, and it is difficult to ensure that the safety risk in the current operation stage can be actually solved by the operations of alarming, counterweight position adjustment and the like; in the embodiment of the invention, in a hoisting operation, the counterweight movement may be unrelated to the data of the monitoring system, may be continuous, or may not be a counterweight position adjustment operation mode calculated according to the data of a specific monitoring system, and when the hoisting moment exceeds or is not (each threshold line may have a measurement) the counterweight adjustment moment caused by the continuous counterweight movement, the safety control or the safety control release may be performed on the hoisting operation (instead of performing the safety control on the counterweight movement), and the counterweight movement may be continued at the same time, so as to complete the safety guarantee implementation of the hoisting operation, thereby achieving the practical and effective safety margin and safety reliability, and having the characteristic of high operation efficiency.

In the safety control scheme of the crane, discrete counterweight position points such as a maximum hoisting position point, a minimum hoisting position point and a middle hoisting position point are set, whether the counterweight starts to move to the set position or not is determined according to the stress obtained by a sensor in hoisting operation, and the current hoisting size is judged, however, the implementation of the hoisting operation is still basically not considered to be limited in the scheme, in the practical situation, the change situation of the hoisting moment in the hoisting operation is almost impossible to keep constant or constant change (such as various sudden changes caused by external environment or equipment operation), that is, the change speed of the hoisting moment along with the hoisting operation is too fast or too slow, the counterweight movement control is almost impossible to completely provide the counterweight end moment adapting to the change speed of the hoisting moment in various hoisting operation processes, particularly, after the hoisting operation is implemented, whether balance of the hoisting equipment is kept through balance weight movement execution is determined through stress data obtained by waiting for sensor feedback, and actually, the balance of the hoisting equipment is difficult to realize, and overturning risks exist, namely if a risk working condition is formed, danger, injury or accidents of personnel and equipment are possibly to be or are actually caused, and safety guarantee can be hardly guaranteed when balance weight control is carried out; in the embodiment of the invention, absolute moment balance matching is kept between the counterweight adjusting moment and the suspension moment at any moment, but the movement of the counterweight in the target direction in the hoisting operation stage is executed at the same time of the hoisting operation (such as hoisting), and the movement of the counterweight is continuously carried out, can apply safety control to the hoisting operation when the hoisting moment does not accord with the safety operation, thereby reducing or suspending the change of the hoisting moment, as the counterweight continues to move, the counterweight adjustment torque may continue to increase to the appropriate position (e.g., above the aforementioned mid-lower threshold line), the release operation of the safety control is applied, by circulating in this way, the embodiment of the invention can realize the dynamic moment balance of the hoisting equipment in the hoisting operation process through the brand-new coordination and linkage of the hoisting control and the counterweight control.

Based on the above, the embodiment of the invention provides a control target and a counterweight moving target direction suitable for each stage of hoisting operation, and performs staged counterweight dynamic balance control according to hoisting stage characteristics, and specifically, the dynamic balance control strategy of the embodiment of the invention is based on the operation characteristics of different hoisting stages, such as hoisting change characteristics in hoisting, lowering, amplitude variation and other operation stages, and coordinates and links with control modules such as hoisting control, counterweight moving control and the like, so that the coordinated control of matching of hoisting change speed and counterweight extrapolation adduction speed is realized, even under the condition of sudden hoisting change, the counterweight control can still provide a safety control range, the control strategy has the characteristic of continuous operation in the hoisting process, the hoisting performance, the operation flexibility and the hoisting efficiency of hoisting equipment are improved, and the control strategy has more reliable safety and stability performances which are in line with actual operation.

The embodiment of the invention considers the influence of unmatched counterweight moving speed and hoisting change speed, improves the safety, improves the efficiency of the existing counterweight moving discrete operation mode, realizes a counterweight dynamic balance control strategy and a hoisting counterweight linkage control scheme, and realizes continuous operation of the counterweight moving in a safe range; the embodiment of the invention considers the influence of the suspension load mutation on the safety, reserves the safety margin, and sets a plurality of safety threshold lines in the control range for control.

The embodiment of the invention can be applied to safety control of engineering machinery, in particular to safety control of cranes, wherein the cranes comprise at least one of automobile cranes, all-terrain cranes and crawler cranes.

Example 2

The embodiment of the invention belongs to the same inventive concept as the embodiment 1, and the embodiment of the invention provides a safety control system of hoisting equipment, which comprises the following components:

a counterweight control module for performing continuous counterweight movement in the target direction;

the hoisting control module is used for determining whether to execute the safety control of the hoisting operation according to the matching degree of the increment size of the counterweight parameter and the increment size of the hoisting parameter;

the safety control system may further include:

and the early warning module is used for providing early warning during the safety control of the hoisting operation, and the early warning can be displayed and/or make sound through display equipment, an audible and visual alarm and the like.

In the embodiment of the invention, the system of the embodiment of the invention can be used for the dynamic balance safety control of the crane counterweight based on the operation stage characteristics, the main control module can be a main control joint stage characteristic judgment module, the hoisting control module can be a hoisting (equipment) control module, and the counterweight control module can be a counterweight travel control module.

The main control module can input instructions by a manipulator according to the operation state and the hoisting requirement, judge the stages of hoisting, lowering, upward amplitude variation and downward amplitude variation according to the hoisting moment change, and output instructions to the hoisting control module and the counterweight stroke control module to clearly determine the control target direction matched with the stage characteristics, as shown in fig. 1.

The hoisting control module can perform corresponding hoisting, lowering and amplitude-change control operation according to the main control direction of the stage characteristics (for example, the hoisting stage is pull-up loading); meanwhile, according to the moving distance (or the current position and the initial position) of the counterweight, the safety boundary of the hoisting control and the formulated hoisting control and counterweight stroke control linkage scheme, the operations of hoisting, lowering, suspending and the like are carried out, as shown in fig. 4.

The counterweight travel control module may perform corresponding movement control of the outward-closing and inward-closing counterweight according to a target direction of a counterweight travel corresponding to the stage characteristics (for example, the outward-closing and the downward-closing in the lifting stage), specifically, as shown in fig. 1, and the counterweight may continuously act in a single lifting stage.

As shown in fig. 4, the vertical axis of the drawing is the suspension moment, the horizontal axis is the counterweight moving distance (extrapolated pushing distance), the counterweight stroke may be 0 to 12D, D is the unit length, and the counterweight stroke (controlled moving range) may be an extreme value counterweight parameter range, and in some cases, the extreme value counterweight parameter range may be a counterweight parameter range composed of a maximum value and a minimum value, and the maximum value and the minimum value may be extreme positions where the counterweight can move in an actual situation; in fig. 4, the straight lines from top to bottom are an upper threshold line, an upper middle threshold line, a middle lower threshold line and a lower threshold line in sequence, wherein it should be noted that each threshold line and parameter line shown in fig. 4 are only exemplary partial line segments, for example, the middle lower threshold line can be extended to a quadrant having a negative value, and meanwhile, it is also not required that the counterweight movement distance must be started from a position where the suspension moment or suspension parameter is not zero, the origin of coordinates is relatively speaking, and according to practical situations, such as a reference object and an equipment structure, each threshold line and parameter line may have line segments located in the quadrant having a negative value; on the parameter line, in a lifting operation stage, as the lifting moment reaches the middle-upper threshold lifting moment corresponding to the current counterweight moving distance on the middle-upper threshold line, the lifting operation is suspended, an arrow corresponding to lifting indicates that the lifting moment is not changed when the counterweight is pushed outwards (the counterweight adjusting moment is increased), and the lifting operation is continued until the counterweight moving distance reaches the middle-lower threshold counterweight moving distance corresponding to the current lifting moment on the middle-lower threshold line; in the lowering operation stage, as the hoisting moment is reduced too fast, the current counterweight moving distance reaches the counterweight moving distance of the middle and lower thresholds corresponding to the hoisting moment on the middle and lower threshold lines, the hoisting operation can be suspended, the corresponding lowering arrow indicates that the hoisting moment is not changed when the counterweight is retracted (the counterweight adjusting moment is reduced), and the hoisting operation is continued until the counterweight moving distance reaches the counterweight moving distance of the middle and lower thresholds corresponding to the current hoisting moment on the middle and upper threshold lines; the luffing arrow indicates that the hoisting control and counterweight control can be performed along (or completely coincide with) the mid-threshold line during the luffing operation phase, such as maintaining the hoisting loading speed; the black dots represent the moving distance of the balance weight and the corresponding suspension load moment under a certain moment state on the parameter line.

The embodiment of the invention provides a specific counterweight dynamic balance control scheme based on hoisting operation stage characteristics and a control boundary. Specifically, the moment balance calculation is divided into 5 threshold lines, the safety of suspension load mutation is considered, the control range is limited between an upper middle threshold and a lower middle threshold, and related suspension load actions are suspended when an emergency situation exceeds a boundary, so that early warning can be given out; the division into 5 threshold lines, namely an upper threshold line, a lower threshold line, a middle upper threshold line and a middle lower threshold line, can be performed according to actual safety requirements, for example, a layer of safety margin is considered, 7 threshold line boundaries are set, and the speed classification (such as deceleration) of the hoisting action of the suspended load is correspondingly set, so that the safety and the operation efficiency can be improved; in addition, there may be more threshold lines, for example, in the safety control range of the middle and lower thresholds, taking the hoisting stage as an example, when the hoisting moment or the hoisting parameter increases by a specific threshold line (not necessarily reaching the range boundary formed by the threshold lines), when the hoisting parameter reaches the specific threshold hoisting parameter corresponding to the current counterweight moving distance on the specific threshold line, the suspending is performed, then the hoisting is started after the counterweight stroke control counterweight is extrapolated to the specific distance value, and then, if the hoisting parameter continues to increase by the same specific value, the suspending may be performed again, and the process is repeated until the hoisting operation is completed, and the counterweight is continuously moved in the whole process without suspension or call-back.

After the hoisting stage is judged by the main control module, considering that the moving speed of the counterweight and the hoisting loading or lowering unloading speed are difficult to be synchronously matched, and the hoisting change speed (such as from 0 to the maximum hoisting weight) is higher than the change speed of the counterweight stroke (namely the counterweight is difficult to quickly reach the position matched with the hoisting), in the embodiment of the invention, the hoisting control module and the counterweight stroke control module can perform linkage operation at the moment to complete continuous hoisting operation. As shown in fig. 4, in the lifting stage, the counterweight travel control module controls the counterweight to push out and the hoisting control module to perform pull-up loading, when the control point reaches the boundary of the upper middle threshold line, the hoisting control module suspends the loading and continues to push out the counterweight, until the control point reaches the boundary of the lower middle threshold line, the hoisting control module restarts the loading to perform pull-up operation, and so on until the heavy object is successfully lifted to complete the operation in the lifting stage. The lowering phase is similar to the lifting process, but the action direction is opposite. The amplitude variation stage can be controlled according to the change of the hoisting moment by the middle threshold, when the hoisting moment reaches or is matched with a value on the middle threshold line, because the hoisting moment approaches to the two sides of the middle threshold line, whether safety control is executed or safety control release is executed according to the specific operation stage and the previous safety control or release situation, and of course, similar control to the hoisting stage can be executed in the ranges of the middle upper threshold line and the middle lower threshold line. In the control process of each stage, the counterweight continuously moves towards the target direction until the operation of the stage is completed, and only the starting and stopping actions judged according to the threshold value at the end of the hoisting equipment can be realized, so that the continuous hoisting operation is realized.

According to the embodiment of the invention, staged counterweight dynamic balance control is carried out according to hoisting stage characteristics, the hoisting action control purpose is clear, and high-efficiency staged safety control is realized; the influence of unmatched counterweight moving speed and hoisting change speed is considered, and a sectional control and hoisting counterweight linkage control scheme is formulated according to a safety boundary, so that continuous movement and continuous hoisting operation of the counterweight in a hoisting stage are realized, the operation efficiency is improved, and the safety of hoisting equipment is guaranteed; considering the influence of the suspension load mutation on the safety, dividing the overall control into 5 safety threshold lines according to the moment balance calculation, limiting the safety control between the upper and lower threshold lines, and reserving a safety margin for the suspension load mutation; the crane not only can be used for a crawler crane, but also can be used for other types of hoisting operation cranes such as an automobile crane and the like, and has the advantages of wide application range, good safety and high efficiency.

Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.

It should be noted that the various features described in the foregoing embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.

Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In addition, any combination of various different implementation manners of the embodiments of the present invention can be made, and the embodiments of the present invention should also be regarded as the disclosure of the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.

Claims

1. A safety control method of hoisting equipment is characterized by comprising the following steps:

acquiring a counterweight parameter corresponding to the counterweight movement and a hoisting parameter corresponding to the hoisting operation;

the middle upper threshold line and the middle lower threshold line are not intersected in the extreme value counterweight parameter range and are not intersected with any overturning critical value relation line in the extreme value counterweight parameter range;

2. The safety control method for the hoisting equipment according to claim 1, wherein the determining the hoisting operation stage of the hoisting equipment comprises:

3. The safety control method for hoisting equipment according to claim 2, wherein the selecting the target direction of the counterweight movement in the hoisting operation stage comprises any one of the following steps:

selecting the target direction of the movement of the counterweight in the lifting operation stage or the downward amplitude-changing operation stage as an extrapolation direction, wherein,

the lifting operation stage is a lifting winch operation stage, and the downward amplitude-changing operation stage is a downward amplitude-changing winch operation stage;

4. The safety control method of hoisting equipment according to claim 1, wherein after the determining that the hoisting parameter reaches the threshold hoisting parameter corresponding to the counterweight parameter on any one of the upper middle threshold line and the lower middle threshold line, performing the safety control of the hoisting operation, and before the determining whether to perform the safety control of the hoisting operation and/or determining whether to perform the release of the existing safety control of the hoisting operation according to the degree of matching between the increment size of the counterweight parameter and the increment size of the hoisting parameter, further comprises:

determining that the counterweight parameter after continuously performing the continuous counterweight movement in the target direction reaches a threshold counterweight parameter corresponding to the suspended load parameter on the other of the middle upper threshold line and the middle lower threshold line;

and executing safety control release of the hoisting operation.

5. The safety control method for hoisting equipment according to claim 1, wherein after the obtaining of the counterweight parameter corresponding to the counterweight movement and the hoisting parameter corresponding to the hoisting operation and before the determining whether to perform the safety control for the hoisting operation and/or determining whether to perform the release of the existing safety control for the hoisting operation according to the degree of the match between the increment size of the counterweight parameter and the increment size of the hoisting parameter, the method further comprises:

determining that the hoisting parameter reaches a mid-threshold hoisting parameter corresponding to the counterweight parameter on a mid-threshold line, executing safety control of the hoisting operation or executing existing safety control release of the hoisting operation, wherein,

6. The safety control method of the hoisting equipment according to claim 1, wherein the determining whether to perform the safety control of the hoisting operation and/or determining whether to perform the existing safety control release of the hoisting operation according to the degree of matching between the increment size of the counterweight parameter and the increment size of the hoisting parameter comprises:

7. The method as claimed in claim 6, wherein after the determining the increment of the hoisting parameter, which exceeds the increment of the balance hoisting parameter, and the safety control of the hoisting operation is performed, and the determining whether to perform the release of the existing safety control of the hoisting operation, the method comprises:

determining that an increment size of a counterweight parameter after continuously performing continuous counterweight movement in the target direction exceeds an increment size range of a balance counterweight parameter, performing safety control release of the hoisting operation, wherein,

8. The safety control method of the hoisting equipment according to claim 5, wherein the determining whether to perform the safety control of the hoisting operation and/or determining whether to perform the existing safety control release of the hoisting operation according to the degree of matching between the increment size of the counterweight parameter and the increment size of the hoisting parameter comprises:

determining that the increment of the hoisting parameter is matched with the increment of the intermediate threshold hoisting parameter, and executing the safety control of the hoisting operation or executing the existing safety control release of the hoisting operation, wherein,

and the increment size of the intermediate threshold hoisting parameter is obtained through the increment size of the counterweight parameter and the intermediate threshold line.

9. The method of claim 8, wherein the determining that the magnitude of the increment of the hoist parameter matches the magnitude of the increment of the mid-threshold hoist parameter, performing safety control of the hoist operation or performing an existing release of safety control of the hoist operation,

the hoisting operation stage is any amplitude-variable operation stage.

10. The safety control method of the hoisting device according to any one of claims 1 to 9, wherein the safety control of the hoisting operation comprises one or more of:

performing a pause of the hoisting operation while continuing to perform the target direction or to perform a continuous counterweight movement of the redetermined target direction;

performing deceleration of the lifting operation while continuing to perform the target direction or performing continuous counterweight movement of the redetermined target direction;

11. The safety control method of a hoisting device as claimed in any one of claims 1 to 9, wherein the hoisting parameters comprise hoisting weight and/or hoisting moment and the counterweight parameters comprise counterweight movement distance.

12. A safety control system for a lifting device, the safety control system comprising:

the hoisting control module is used for determining whether to execute safety control of the hoisting operation and determining whether to execute existing safety control release of the hoisting operation according to the matching degree of the increment size of the counterweight parameter and the increment size of the hoisting parameter;

in the safety control system, further comprising:

a determining module for determining that the hoisting parameter reaches a threshold hoisting parameter corresponding to the counterweight parameter on any one of a middle upper threshold line and a middle lower threshold line, and executing safety control of the hoisting operation,

the middle upper threshold line and the middle lower threshold line constitute a control safety range, the control safety range belongs to a safety limit range,

the middle upper threshold line and the middle lower threshold line are not intersected in the extreme value counterweight parameter range and are not intersected with any overturning critical value relation line in the extreme value counterweight parameter range.

13. An electronic device, comprising:

at least one processor;

a memory coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to implement the method of any one of claims 1 to 11 by executing the instructions stored by the memory.

14. A working machine characterized in that it has an electronic device according to claim 13.

15. A computer readable storage medium storing computer instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1 to 11.