CN115402407B - Crawler-type tower crane chassis steering control method and system and crawler-type tower crane - Google Patents
Crawler-type tower crane chassis steering control method and system and crawler-type tower crane Download PDFInfo
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- CN115402407B CN115402407B CN202211177007.1A CN202211177007A CN115402407B CN 115402407 B CN115402407 B CN 115402407B CN 202211177007 A CN202211177007 A CN 202211177007A CN 115402407 B CN115402407 B CN 115402407B
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- 238000003860 storage Methods 0.000 claims description 10
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- 238000004590 computer program Methods 0.000 description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/005—Hydraulic control systems
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Abstract
The invention provides a crawler unit steering control method, a crawler tower crane chassis steering control system and a crawler tower crane comprising the crawler tower crane chassis steering control system, which can realize the steering of the crawler tower crane chassis and belong to the field of engineering machinery. The tower crane chassis includes a plurality of track groups, the method comprising: selecting one track group of the plurality of track groups as a track group to be turned; adjusting the gravity center of the tower crane to be far away from the track group to be turned; and controlling the track group to be turned to turn. Through the technical scheme, the gravity center of the tower crane is adjusted, so that the gravity center is far away from the track group to be steered, the pressure on the track group to be steered in the vertical direction can be reduced, and the track group to be steered can be driven and steered smoothly.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a crawler unit steering control method, a crawler tower crane chassis steering control system and a crawler tower crane comprising the crawler tower crane chassis steering control system.
Background
The crawler tower crane is a mobile crane which is arranged on a crawler chassis by a hoisting operation part and walks by means of a crawler device. The crawler tower crane can perform operations such as material lifting, transportation, loading and unloading, installation and the like. The crawler tower crane has the advantages of strong lifting capacity, small ground specific pressure, small turning radius, large climbing capacity, no need of supporting legs, load running, good operation stability, freely changeable truss combination height and the like, and is widely applied to construction industries such as electric power, municipal administration, bridges, petrochemical industry, water conservancy and hydropower and the like.
Disclosure of Invention
The embodiment of the invention aims to provide a crawler group steering control method, a crawler type tower crane chassis steering control system and a crawler type tower crane comprising the crawler type tower crane chassis steering control system, which can realize the steering of the crawler type tower crane chassis.
In order to achieve the above object, an embodiment of the present invention provides a track group steering control method, including: selecting the crawler belt group as a crawler belt group to be turned; adjusting the vertical pressure born by the track group to be steered so that the vertical pressure is reduced; and controlling the track group to be turned to turn.
Optionally, the track set to be turned includes a left track and a right track, and the controlling the track set to be turned to turn includes: one of the left and right tracks is controlled to move forward and the other is controlled to move backward.
Optionally, the track group is connected with a chassis carried by the track group through a leg oil cylinder, the leg oil cylinder is provided with a rotating mechanism, the rotating mechanism is used for controlling the leg to rotate, and the controlling the track group to be turned to turn comprises: controlling the landing leg oil cylinders to shrink by a preset length so as to lift the crawler belt groups; controlling the rotating mechanism to act so as to control the supporting leg oil cylinder to rotate and further drive the crawler belt group to be steered to steer; and controlling the landing leg oil cylinder to extend the preset length so as to lower the track group.
Optionally, the crawler chassis includes a plurality of crawler groups, each of the plurality of crawler groups is connected with a chassis carried by the crawler group through a leg cylinder, and each leg cylinder is equipped with a rotating mechanism, the rotating mechanism is used for controlling the leg to rotate, and the controlling the crawler group to be turned to turn includes: controlling the support leg oil cylinders corresponding to all other track groups except the track group to be turned in the track groups to extend for a preset length; controlling the action of a rotating mechanism of a supporting leg oil cylinder corresponding to the track group to be turned so as to control the supporting leg oil cylinder to rotate and further drive the track group to be turned to turn; and controlling the landing leg cylinders corresponding to all other track groups to retract by the preset length.
In another aspect, an embodiment of the present invention provides a method for controlling steering of a crawler tower crane chassis, where the tower crane chassis includes a plurality of crawler groups, the method including: selecting one track group of the plurality of track groups as a track group to be turned; adjusting the gravity center of the tower crane to be far away from the track group to be turned; and controlling the track group to be turned to turn.
Optionally, after controlling the track group to be steered to steer, the track tower chassis steering control method further comprises adjusting the center of gravity of the tower crane so that the center of gravity returns to the center of the tower crane chassis.
Optionally, the plurality of track groups are selected one by one as the track to be steered and steering is completed.
Optionally, adjusting the center of gravity of the tower crane so that the center of gravity is away from the track set to be steered includes:
and adjusting the gravity center of the tower crane towards the diagonal track group corresponding to the track group to be turned by controlling the rotation of the tower crane and/or adjusting the movable balance weight on the tower crane.
Optionally, adjusting the center of gravity of the tower crane so that the center of gravity is away from the track set to be steered includes: and adjusting the gravity center of the tower crane so that the pressure borne by the track group to be turned is lower than a preset pressure value, and the deviation of the pressures borne by other track groups is lower than a preset deviation.
Optionally, the track set to be turned includes a left track and a right track, and the controlling the track set to be turned to turn includes: one of the left and right tracks is controlled to move forward and the other is controlled to move backward.
Optionally, each of the plurality of track groups is connected to the tower chassis through a leg cylinder, and each leg cylinder is equipped with a rotation mechanism for controlling the rotation of the leg, and the controlling the track group to be turned to turn includes: controlling the supporting leg oil cylinders corresponding to the tracks to be turned to shrink by a preset length; controlling the action of a rotating mechanism of a supporting leg oil cylinder corresponding to the track group to be turned so as to control the supporting leg oil cylinder to rotate and further drive the track group to be turned to turn; and controlling the support leg oil cylinders corresponding to the track groups to be steered to extend by the preset length.
Optionally, each of the plurality of track groups is connected to the tower chassis through a leg cylinder, and each leg cylinder is equipped with a rotation mechanism for controlling the rotation of the leg, and the controlling the track group to be turned to turn includes: controlling the support leg oil cylinders corresponding to all other track groups except the track group to be turned in the track groups to extend for a preset length; controlling the action of a rotating mechanism of a supporting leg oil cylinder corresponding to the track group to be turned so as to control the supporting leg oil cylinder to rotate and further drive the track group to be turned to turn; and controlling the landing leg cylinders corresponding to all other track groups to retract by the preset length.
In another aspect, an embodiment of the present invention provides a track tower chassis steering control system, the tower chassis including a plurality of track groups, the system comprising: and the controller is used for executing the crawler-type tower crane chassis steering control method.
Optionally, each of the plurality of track groups is connected to the tower chassis by a leg cylinder, and each leg cylinder is provided with a rotation mechanism for controlling rotation of the leg.
In another aspect, an embodiment of the present invention provides a tracked tower machine comprising a tracked tower machine chassis steering control system as described above.
In another aspect, an embodiment of the present invention provides a machine-readable storage medium having instructions stored thereon for causing a machine to perform the above-described tracked tower crane chassis steering control method.
Through the technical scheme, the gravity center of the tower crane is adjusted, so that the gravity center is far away from the track group to be steered, the pressure on the track group to be steered in the vertical direction can be reduced, and the track group to be steered can be driven and steered smoothly.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of 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, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 is a schematic main body structure of a crawler tower machine according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for controlling steering of a crawler tower chassis provided by an embodiment of the present invention;
FIG. 3 shows a schematic view of the overall structure of a crawler tower machine provided by an embodiment of the present invention;
FIG. 4 shows a schematic view of a tower chassis turn;
fig. 5a shows a schematic diagram of a specific structure of a track group, a tower crane undercarriage and a leg cylinder connected therebetween according to an embodiment of the present invention;
FIG. 5b shows a schematic structural view of a leg cylinder and a swivel mechanism provided therefor;
FIG. 5c illustrates an exploded view of the track group, tower undercarriage, and leg cylinders connected therebetween shown in FIG. 5 a; and
Fig. 6 shows a flowchart of a crawler tower chassis steering control method according to an embodiment of the present invention.
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
Fig. 1 is a schematic main structure of a crawler tower machine according to an embodiment of the present invention. As shown in fig. 1, the crawler tower crane comprises a tower crane chassis and a tower body carried by the tower crane chassis. The tower chassis comprises four track groups (or crawler), which are respectively a left front track group, a left rear track group, a right front track group, and a right rear track group, wherein each track group may comprise one or more tracks, for example, may comprise left and right tracks. A track set is indicated only by reference numeral 10 and comprises a left track 11 and a right track 12. The leg cylinders 30 (also referred to as leveling cylinders, because the tower chassis 20 can be kept horizontal by adjusting the expansion and contraction of the cylinders) are respectively installed above the four track groups of the tower chassis, and the expansion and contraction length of the cylinders can be adjusted by detecting the inclination of the tower chassis 20 in real time, so that the tower chassis is kept horizontal and does not incline along with the inclination of the ground. The main structure of the crawler-type tower crane is taken as an example in the following, but the specific application of the crawler-type tower crane is not limited to the main structure, and the crawler-type tower crane can be applied to other movable tower cranes which can use the concept of the present invention.
Fig. 2 is a flowchart of a crawler-type tower crane chassis steering control method according to an embodiment of the present invention. The embodiment of the invention provides a crawler-type tower crane chassis steering control method, wherein the tower crane chassis comprises a plurality of crawler groups, and the method comprises the following steps:
Step S110: selecting a track group of the plurality of track groups (which may include one or more tracks) as a track group to be steered;
Step S120: the gravity center of the tower crane is adjusted to be far away from the track group to be steered, so that the vertical pressure born by the track group to be steered is reduced, and the track group to be steered can be smoothly driven and steered; and
Step S130: and controlling the track group to be turned to turn.
Through the scheme, the gravity center of the tower crane is adjusted to be far away from the track group to be steered, so that the pressure on the track group to be steered in the vertical direction is reduced, and the track group to be steered can be driven and steered smoothly. This solution is particularly useful in the case of a large tower crane load, which can cause the pressure to which the set of tracks is subjected to be very great, thus causing it to turn difficult.
After steering the set of tracks to be steered, the center of gravity of the tower crane may be adjusted so that it returns to the center of the tower crane chassis. It should be noted that returning the center of gravity to the center of the tower chassis means that the track group for which steering has been completed can restart bearing the weight of the tower so that the weight of the tower is equally distributed by the plurality of track groups, and thus the center of the tower chassis is not strictly defined as a physical center position of the tower chassis, but may be any position within a certain range around the center position of the tower chassis. Of course, under the condition of ensuring safety, after the track group to be turned is controlled to turn, the gravity center of the tower crane is directly adjusted, so that the gravity center is far away from the track group to be turned, and the track group to be turned is ready for turning.
In general, steering of a track tower machine requires steering involving multiple track groups, and after the multiple track groups are steered in unison, the vehicle walks. Therefore, each track group in the plurality of track groups can be selected one by one as the track to be turned and turning is completed, and after one track group completes turning, the other track group is controlled to turn, so that final turning of the crawler tower crane is completed. One advantage of selecting each of the plurality of track groups one by one as the track to be steered and completing the steering, as compared to controlling the steering of the plurality of track groups simultaneously, is that it can be ensured that the track group has sufficient power to perform the steering, especially in situations of a shortage of power allocation to the tower.
The following describes how to adjust the centre of gravity of the tower crane so that it is far from the track group to be steered. Fig. 3 shows a schematic view of the overall structure of the crawler tower machine according to the embodiment of the present invention. As shown in fig. 3, the center of gravity of the tower crane can be adjusted towards the diagonal track set corresponding to the track set to be steered by controlling the tower crane to swing and/or adjusting a moving counterweight on the tower crane, which can move on a tower arm to dynamically balance the load of a hoisted object. Of course, it is also possible to adjust the centre of gravity of the tower by other means and in other directions, as long as it is ensured that the vertical pressure of the track groups to be steered can be reduced and that the tower is not subject to a roll-over.
Preferably, the center of gravity of the tower crane is adjusted, so that the pressure borne by the track groups to be turned is lower than a preset pressure value (for example, 0, that is, the track groups to be turned do not bear pressure in the vertical direction), and the deviation of the pressures borne by the other track groups is lower than a preset deviation (for example, 3 MPa), that is, the gravity of the tower crane is uniformly distributed among the other track groups, so that the stability of the tower crane is ensured.
The following describes how to control the set of tracks to be steered to steer. The scheme provides two modes, and the first mode aims at the situation that the track group to be turned comprises a left track and a right track, one of the left track and the right track can be controlled to move forwards, the other one of the left track and the right track can be controlled to move backwards, and therefore turning of the track group to be turned is achieved, and the situation can be seen in fig. 4. Another way is to provide a rotation mechanism on the leg cylinder between each of the plurality of track groups and the tower undercarriage, which rotation mechanism can be used to control the rotation of the leg, so as to achieve steering of the lower track group connected to the leg, as will be described in detail below. Of course, the invention is not limited thereto and other controllable track sets to be steered are applicable.
Fig. 5a shows a schematic specific structure of a track group, a tower crane undercarriage and a leg cylinder connected therebetween according to an embodiment of the present invention. Fig. 5b shows a schematic structural view of the leg cylinder and the swivel mechanism provided therefor. Fig. 5c shows an exploded view of the track group, tower undercarriage, and leg cylinders connected therebetween shown in fig. 5 a. The track group, the tower undercarriage, and the leg cylinders connected between them, and the swivel mechanism provided for the leg cylinders, are described below in connection with fig. 5a-5 c.
The tower crane underframe is connected with a leveling cylinder 4 through a rotary ball mechanism 1. Specifically, the rotary ball mechanism 1 has a ball a and a ball seat b. The tower crane underframe is connected with a ball head a through a bolt, the bottom of a ball seat b is connected with a piston rod of a leveling oil cylinder 4 through a pressing plate, the bottom of the leveling oil cylinder 4 is connected with a leveling bracket 3 through a bolt, and the ball seat b can be driven by the leveling oil cylinder 4 to slide up and down along the inner wall of the leveling bracket 3.
The leveling cylinder 4 is equipped with a rotation mechanism including a rotary toothed disc 2 (having the number of teeth Z2), a rotary speed reducer and motor c, and an angle sensor d (having the number of teeth Z1). The bottom of the rotary fluted disc 2 is arranged on the upper surface of the ball seat b, the outer wall of the rotary fluted disc 2 slides up and down along with the ball seat b through the guiding of the inner wall of the leveling bracket 3, the rotary fluted disc 2 is provided with 4 shaft seats of which the pin shafts are inserted on the outer arm of the leveling bracket 3, the length of the pin shafts is larger than the stroke of the oil cylinder, the leveling bracket can be adjusted to rotate when the rotary fluted disc 2 rotates, the rotary fluted disc 2 and the ball head a slide along with the ball seat b, the rotary speed reducer and the motor c keep the relative position of the rotary fluted disc 2 motionless, and the gears keep meshed. The rotary speed reducer, the motor c and the angle sensor d are fixed on the flange plate of the ball head a through bolts, and the rotary speed reducer and the angle sensor are meshed with the rotary fluted disc 2 through self-toothed teeth.
The specific steering operation is described below in connection with fig. 5a-5 c:
1) The leveling oil cylinder is adjusted to be in a middle position, and the first track group 5 is selected to turn;
2) The tower crane arm frame rotates the suspension arm and adjusts the movable counterweight, and the vertical load of the first track group 5 is 0 or a small value;
3) When the pressure of the supporting leg is about zero, the leveling oil cylinder 4 contracts for 5-100 mm, and the oil cylinder seat drives the leveling bracket 3+ track group 5 to move upwards to leave the ground. When the oil cylinder stretches up and down, the positions of the rotary fluted disc 2 and the ball head a are unchanged, the oil cylinder barrel moves up and down, and the pin shaft hole is guided.
4) The rotary motor drives the speed reducer to drive the rotary fluted disc 2 to rotate, wherein a pin shaft of the rotary fluted disc 2 is inserted into a shaft seat on an outer arm of the leveling bracket 3, and the pin shaft rotates to drive the leveling bracket 3 and the track group 5 to complete single-leg rotation around the ball head. The angle sensor detects a rotation angle Y, which is x= (Z1/Z2) Y (the angle sensor teeth mesh with the rotation toothed disc).
5) The leveling cylinder 4 extends for 5-100 mm, namely, the leveling cylinder returns to the state before shrinkage, and the cylinder seat drives the leveling bracket 3+ track group 5 to move downwards, so that the track group 5 reaches the ground.
6) The tower crane arm frame is used for turning the suspension arm and adjusting the movable counterweight, so that the vertical load value of the leveling oil cylinder 4 is the same as that of other oil cylinders, and the first group of track groups can turn at an X angle.
7) Repeating the above operation to finish the X-angle turning of the second, third and fourth track groups.
8) And finishing the turning of the whole tower crane.
The manner in which track group steering is controlled is described above by: controlling the supporting leg oil cylinders corresponding to the tracks to be turned to shrink by a preset length; controlling the action of a rotating mechanism of a supporting leg oil cylinder corresponding to the track group to be turned so as to control the supporting leg oil cylinder to rotate and further drive the track group to be turned to turn; and controlling the support leg oil cylinders corresponding to the track groups to be steered to extend by the preset length. In addition to this approach, track group steering may be controlled by: controlling the support leg oil cylinders corresponding to all other track groups except the track group to be turned in the track groups to extend for a preset length; controlling the action of a rotating mechanism of a supporting leg oil cylinder corresponding to the track group to be turned so as to control the supporting leg oil cylinder to rotate and further drive the track group to be turned to turn; and controlling the landing leg cylinders corresponding to all other track groups to retract by the preset length. That is, the tower chassis is lifted by controlling the extension of the supporting leg cylinders corresponding to other crawler groups, so that the crawler groups to be turned are lifted, and then the lifted crawler groups are turned. The mode of rotating the supporting legs through the rotating mechanism so as to drive the crawler belt set to turn can be suitable for a very narrow turning environment, so that the crawler belt set tower crane can basically realize in-situ turning.
Fig. 6 shows a flowchart of a crawler tower chassis steering control method according to an embodiment of the present invention. As shown in fig. 6, the method comprises the steps of:
1) The supporting leg oil cylinders are checked and adjusted, so that the gravity of the tower crane is uniformly distributed on each supporting leg oil cylinder, and the verticality of the tower body is within 0.3%.
2) A turning speed is set, which corresponds to the speed at which the following control leg rotates.
3) Selecting a first track group, and performing the following operations on the first track group:
a) The gravity center of the tower crane is adjusted to enable the pressure in the vertical direction of the supporting leg to be turned to be 0, and the pressure difference of other supporting legs is smaller than 3MPa;
b) Retracting the leg to be steered by 20mm;
c) Rotating the leg to be steered by a preset angle, for example, 90 degrees;
d) So that the leg is elongated by 20mm;
e) The gravity center is adjusted, so that the gravity of the tower crane is uniformly distributed on each supporting leg oil cylinder. To this end, the one-leg rotation is completed.
4) And sequentially selecting other track groups, and executing the operation.
5) And checking whether the steering angle of the tower crane, the pressure of each supporting leg, the perpendicularity of the tower body and the like meet the requirements.
6) And under the condition that the requirements are met, the steering of the tower crane is completed.
In another aspect, an embodiment of the present invention provides a track tower chassis steering control system, the tower chassis including a plurality of track groups, the system comprising: a controller for performing the following operations: selecting one track group of the plurality of track groups as a track group to be turned; adjusting the gravity center of the tower crane to be far away from the track group to be turned; and controlling the track group to be turned to turn.
Wherein each of the plurality of track groups is connected with the tower chassis through a supporting leg oil cylinder, and each supporting leg oil cylinder is provided with a rotating mechanism for controlling the supporting leg to rotate.
For specific details of the track tower chassis steering control system, reference may be made to the above description of the track tower chassis steering control method, and no further description is given here.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (11)
1. A method of steering a crawler tower chassis, the tower chassis comprising a plurality of crawler groups, the method comprising:
selecting one track group of the plurality of track groups as a track group to be turned;
Adjusting the gravity center of the tower crane to be far away from the track group to be turned; and
The track group to be turned is controlled to turn,
Wherein adjusting the center of gravity of the tower crane so that the center of gravity is away from the track set to be steered comprises: the gravity center of the tower crane is adjusted towards the diagonal track group corresponding to the track group to be turned by controlling the rotation of the tower crane,
Wherein adjusting the center of gravity of the tower crane so that the center of gravity is away from the track set to be steered comprises: and adjusting the gravity center of the tower crane so that the pressure borne by the track group to be turned is lower than a preset pressure value, and the deviation of the pressures borne by other track groups is lower than a preset deviation.
2. The method of claim 1, further comprising, after controlling the set of tracks to be steered to steer:
the center of gravity of the tower crane is adjusted so that it returns to the center of the tower crane chassis.
3. The crawler tower chassis steering control method according to claim 1, wherein the plurality of track groups are selected one by one as the track group to be steered and steering is completed.
4. A crawler tower chassis steering control method according to any of claims 1-3 wherein adjusting the centre of gravity of the tower so that it is remote from the track group to be steered further comprises:
And adjusting the gravity center of the tower crane towards the diagonal track group corresponding to the track group to be turned by adjusting the movable counterweight on the tower crane.
5. A crawler-type tower chassis steering control method according to any one of claim 1 to 3,
The track group to be turned comprises a left track and a right track,
The controlling the track group to be turned to turn comprises the following steps: one of the left and right tracks is controlled to move forward and the other is controlled to move backward.
6. A crawler-type tower chassis steering control method according to any one of claim 1 to 3,
Each of the plurality of track groups is connected with the tower underframe through a leg oil cylinder, and each leg oil cylinder is provided with a rotating mechanism for controlling the rotation of the leg,
The controlling the track group to be turned to turn comprises the following steps:
Controlling the supporting leg oil cylinders corresponding to the track groups to be steered to shrink by preset lengths;
Controlling the action of a rotating mechanism of a supporting leg oil cylinder corresponding to the track group to be turned so as to control the supporting leg oil cylinder to rotate and further drive the track group to be turned to turn; and
And controlling the support leg oil cylinders corresponding to the track groups to be steered to extend by the preset length.
7. A crawler-type tower chassis steering control method according to any one of claim 1 to 3,
Each of the plurality of track groups is connected with the tower underframe through a leg oil cylinder, and each leg oil cylinder is provided with a rotating mechanism for controlling the rotation of the leg,
The controlling the track group to be turned to turn comprises the following steps:
Controlling the support leg oil cylinders corresponding to all other track groups except the track group to be turned in the track groups to extend for a preset length;
Controlling the action of a rotating mechanism of a supporting leg oil cylinder corresponding to the track group to be turned so as to control the supporting leg oil cylinder to rotate and further drive the track group to be turned to turn; and
And controlling the landing leg cylinders corresponding to all other track groups to retract by the preset length.
8. A track tower chassis steering control system, wherein the tower chassis comprises a plurality of track groups, the system comprising:
a controller for performing the crawler tower chassis steering control method according to any one of claims 1-7.
9. The track tower chassis steering control system of claim 8, wherein each of the plurality of track groups is coupled to the tower chassis by a leg cylinder, and wherein each leg cylinder is equipped with a rotation mechanism for controlling rotation of the leg.
10. A tracked tower machine comprising a tracked tower machine chassis steering control system according to any one of claims 8-9.
11. A machine-readable storage medium having instructions stored thereon for causing a machine to perform the tracked tower chassis steering control method of any one of claims 1-7.
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| CN202211125078 | 2022-09-15 | ||
| CN2022111250787 | 2022-09-15 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0582753U (en) * | 1992-04-20 | 1993-11-09 | 三菱農機株式会社 | Traveling equipment for agricultural work vehicles |
| CN102070097A (en) * | 2010-11-23 | 2011-05-25 | 中国水利水电第七工程局有限公司 | Free mobile gate seat tower crane |
| EP3294955A1 (en) * | 2015-05-13 | 2018-03-21 | Gomaco Corporation | Rotary pivot arm positioning assembly |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9908571B2 (en) * | 2010-03-26 | 2018-03-06 | Guntert & Zimmerman Const. Div., Inc. | Adjustable bolster swing legs for slipform paving machines |
| DE202012102062U1 (en) * | 2012-06-05 | 2013-09-12 | Nikolaus Berzen Ratzel | Crawler and system for transporting loads |
| US11884520B2 (en) * | 2020-12-21 | 2024-01-30 | National Oilwell Varco, L.P. | Mobile tower crane systems and methods |
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- 2022-09-26 CN CN202211177007.1A patent/CN115402407B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0582753U (en) * | 1992-04-20 | 1993-11-09 | 三菱農機株式会社 | Traveling equipment for agricultural work vehicles |
| CN102070097A (en) * | 2010-11-23 | 2011-05-25 | 中国水利水电第七工程局有限公司 | Free mobile gate seat tower crane |
| EP3294955A1 (en) * | 2015-05-13 | 2018-03-21 | Gomaco Corporation | Rotary pivot arm positioning assembly |
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| CN115402407A (en) | 2022-11-29 |
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