CN115535887A - Tower crane, control method and device thereof, processor and cloud management platform - Google Patents
Tower crane, control method and device thereof, processor and cloud management platform Download PDFInfo
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- CN115535887A CN115535887A CN202211131975.9A CN202211131975A CN115535887A CN 115535887 A CN115535887 A CN 115535887A CN 202211131975 A CN202211131975 A CN 202211131975A CN 115535887 A CN115535887 A CN 115535887A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The embodiment of the application provides a control method and device, treater and tower crane for tower crane, and tower crane includes body of the tower and facial make-up, and facial make-up includes balance arm, jib loading boom, fixed counter weight and removal counter weight, and fixed counter weight is fixed in balance arm side, and the facial make-up is provided with the guide rail that extends to the jib loading boom side from balance arm side, and removal counter weight can follow the guide rail and remove, and control method includes: obtaining lifting object information of an object to be lifted, wherein the lifting object information comprises at least the weight and the lifting position of the object to be lifted; determining a first moment of an object to be hoisted, which will act on the tower crane, according to the weight and the hoisting position; determining a pre-equilibrium position of the moving counterweight based on the first moment; and controlling the movable balance weight to move from the lifting arm side to the pre-balance position. According to the scheme, the movable balance weight can be pre-adjusted to the pre-balance position before the tower crane lifts, the time for moving the movable balance weight in the lifting process can be saved, and the lifting efficiency is improved.
Description
Technical Field
The application relates to the field of construction machinery, in particular to a control method, a processor, a control device, a tower crane, a cloud management platform and a machine-readable storage medium for the tower crane.
Background
Tower cranes (also called tower cranes, tower cranes) are widely used in the construction industry because of their advantages of large working space, large hoisting weight, etc. A tower crane may generally include a tower and a top mount. The top loading device can comprise a crane arm and a balance arm, wherein the crane arm is used for lifting a lifting object, and the balance arm is used for balancing the moment of the crane arm. In some large tower crane applications (for example, in nuclear power, bridge, fan installation and other scenes), the torque matching requirements of the balance arm and the crane arm are higher due to the limitation of the tower body structure.
Disclosure of Invention
The embodiment of the application aims to provide a control method, a processor, a control device, a tower crane, a cloud management platform and a machine-readable storage medium for the tower crane, which can better meet the requirement of torque matching.
In order to achieve the above object, a first aspect of the present application provides a control method for a tower crane, the tower crane including a tower body and a top loading unit, the top loading unit including a balance arm, a boom, a fixed counterweight and a movable counterweight, the fixed counterweight being fixed on a side of the balance arm, the top loading unit being provided with a guide rail extending from the side of the balance arm to the side of the boom, the movable counterweight being movable along the guide rail, the control method including:
obtaining lifting object information of an object to be lifted, wherein the lifting object information comprises at least the weight and the lifting position of the object to be lifted;
determining a first moment of an object to be hoisted, which will act on the tower crane, according to the weight and the hoisting position;
determining a pre-equilibrium position of the moving counterweight based on the first moment; and
the movable balance weight is controlled to move from the crane arm side to the pre-balance position.
In the embodiment of the present application, the control method further includes:
under the condition that the distance between the pre-balance position and the tower body is larger than the distance between the set safety position and the tower body, controlling the movable balance weight to move from the side of the lifting arm to the set safety position;
when the tower crane moves the balance weight to be positioned at a set safety position in an empty hook state, the total moment of the tower crane does not exceed the rated moment of the tower crane.
In the embodiment of the present application, the control method further includes:
comparing the first torque with a set safe torque;
determining the pre-equilibrium position of the moving counterweight based on the first moment comprises: determining a pre-balancing position of the movable counterweight according to the first moment under the condition that the first moment is larger than the set safety moment;
wherein the set safe moment does not exceed the rated moment of the tower crane.
In the embodiment of the present application, the control method further includes:
in the case where the first torque is smaller than the set safety torque, the movable counterweight is held at the initial position.
In the embodiment of the present application, the control method further includes:
monitoring the hoisting moment of the tower crane in the process of hoisting the object to be hoisted;
under the condition that the hoisting moment is monitored to be increased to a target moment interval in a plurality of moment intervals, keeping the hoisting moment unchanged until the movable balance weight is controlled to move to a target position corresponding to the target moment interval;
wherein a moment interval of the plurality of moment intervals corresponds to a target position of the moving counterweight.
In the embodiment of the present application, in the case that it is monitored that the lifting moment is increased to a target moment interval of the plurality of moment intervals, keeping the lifting moment unchanged until the movable balance weight is controlled to move to a target position corresponding to the target moment interval, the method includes:
when the lifting moment is increased to a first moment interval in the moment intervals, maintaining the lifting moment, and controlling the movable balance weight to move to a first target position corresponding to the first moment interval;
the hoisting moment is continuously increased;
when the lifting moment is increased to a second moment interval adjacent to the first moment interval in the moment intervals, maintaining the lifting moment and controlling the movable balance weight to move to a second target position corresponding to the second moment interval;
wherein the first target position is further away from the tower than the set safe position.
In an embodiment of the present application, controlling the movement of the moving counterweight from the boom side to the target position includes:
determining a first distance of the important movement of the movement balance according to a target position, wherein the target position is a pre-balance position or a set safety position;
determining a deceleration distance that the moving counterweight needs to move to decelerate from the maximum allowable speed of the moving counterweight to zero at a first maximum allowable acceleration;
judging whether the deceleration distance is smaller than half of the first distance;
in case the deceleration distance is less than half the first distance, controlling the moving counterweight to accelerate from zero to a maximum allowable speed at a second maximum allowable acceleration, wherein the first maximum allowable acceleration is equal to the second maximum allowable acceleration in absolute value;
controlling the moving counterweight to decelerate from the maximum allowable speed to zero at a first maximum allowable acceleration in the case where the moving counterweight has moved to a deceleration distance from the target position;
the method further includes controlling the moving counterweight to accelerate from zero to a predetermined speed at a second maximum allowable acceleration and then decelerate to zero at the first maximum allowable acceleration in the event that the deceleration distance is greater than or equal to one-half the first distance, or controlling the moving counterweight to accelerate from zero at the second maximum allowable acceleration and decelerate to zero at the first maximum allowable acceleration when the moving counterweight has moved one-half the first distance.
In an embodiment of the application, the re-determined velocity is the square root of the absolute value of the product of the first maximum allowed acceleration and the first distance.
In the embodiment of the present application, the maximum allowable speed is inversely related to the first torque.
A second aspect of the present application provides a processor configured to execute the above-described control method for a tower crane.
The third aspect of the present application provides a controlling means for tower crane, tower crane includes body of the tower and facial make-up, and the facial make-up includes balance arm, jib loading boom, fixed balanced heavy and removal balanced heavy, and fixed balanced heavy is fixed in the balance arm side, and the facial make-up is provided with the guide rail that extends to the jib loading boom side from the balance arm side, removes balanced heavy can follow the guide rail and removes, and controlling means includes:
a drive mechanism for driving the movable balance weight to move along the guide rail, an
The processor described above.
In an embodiment of the present application, a drive mechanism includes:
the first pulley block is arranged on the crane boom;
the second pulley block is arranged on the balance arm; and
the winch is connected with one end of the movable balancing weight by winding the first pulling rope around the first pulley block, and is connected with the other end of the movable balancing weight by winding the second pulling rope around the second pulley block, so that synchronous winding and releasing of the first pulling rope and the second pulling rope are realized, and the movable balancing weight is driven to move.
In an embodiment of the present application, the control device further includes:
and a position detecting device for detecting a position of the moving counterweight.
A fourth aspect of the present application provides a tower crane, comprising:
a tower body;
the facial make-up, the facial make-up includes:
the balance arm is provided with a fixed balance weight;
a cargo boom; and
the movable balance weight is provided with a guide rail extending from the balance arm side to the lifting arm side, and can move along the guide rail;
the control device for the tower crane is described above.
In the embodiment of the application, the processor is a tower crane controller.
In an embodiment of the present application, the tower crane comprises a crawler tower crane.
A fifth aspect of the present application provides a cloud management platform, including the above processor.
A sixth aspect of the present application provides a machine-readable storage medium having stored thereon instructions, which when executed by a processor, cause the processor to implement the control method for a tower crane described above.
Through the technical scheme, the movable balance weight is pre-adjusted to the pre-balance position before the tower crane lifts, so that the time for moving the movable balance weight in the lifting process can be saved, and the lifting efficiency is improved.
Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:
FIG. 1 schematically illustrates a structural schematic of a tower crane according to an embodiment of the present application;
FIG. 2 schematically shows a flow diagram of a control method for a tower crane according to an embodiment of the present application;
fig. 3A and 3B schematically illustrate a change in position of a moving counterweight when determining a pre-balancing position of the moving counterweight in a control method for a tower crane according to an embodiment of the present application;
FIG. 4 schematically illustrates a flow diagram of a control method for a tower crane according to another embodiment of the present application;
FIG. 5 schematically illustrates a flow diagram of a control method for a tower crane according to another embodiment of the present application;
FIG. 6 is a schematic flow chart illustrating a control method for a tower crane according to an embodiment of the present application for controlling a mobile counterweight during a hoisting process;
FIG. 7 is a schematic flow chart illustrating a method for controlling the movement of a moving counterweight according to an embodiment of the present disclosure;
FIG. 8 schematically illustrates a block diagram of a control apparatus for a tower crane according to an embodiment of the present application;
fig. 9A is a schematic structural view of a moving-counterweight system in an embodiment of the present application;
fig. 9B is a partially enlarged view of a portion a in fig. 9A;
fig. 9C is a partially enlarged view of a portion B in fig. 9A;
FIG. 9D is a schematic view of the structure of FIG. 9B taken along the direction C; and
fig. 9E is a schematic structural view of the moving counterweight in the embodiment of the present application.
Detailed Description
The following detailed description of embodiments of the present application will be made with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the application, are given by way of illustration and explanation only, not limitation.
It should be noted that, if directional indications (such as up, down, left, right, front, and back) \8230;) are referred to in the embodiments of the present application, the directional indications are only used for explaining the relative positional relationship between the components, the motion situation, and the like in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the respective embodiments may be combined with each other, but it is necessary that the technical solutions are capable of being implemented by a person having ordinary skill in the art, and when the technical solutions are contradictory to each other or cannot be implemented, such a combination should not be considered to exist, and is not within the protection scope claimed in the present application.
In the application of some large or even ultra-large tower cranes, especially in the application of walking (for example, crawler type) tower cranes (for example, in the scenes of nuclear power, bridges, fan installation and the like), the weight of the balance weight for matching the lifting load on the lifting load and the balance arm side is very large, and in the lifting process of the tower crane, the moment change on the balance arm side is large, and the moment acting on the tower body is also very large. In order to ensure safety, it is desirable to improve the ability of the tower to resist bending moments, such as increasing the size of the tower. However, in the actual tower structure design, it is impossible to increase the volume and weight of the tower without limitation, which means that higher demands are made on the moment balance on both sides of the upper balance arm and the boom.
Fig. 1 schematically shows a schematic structural diagram of a tower crane according to an embodiment of the present application. As shown in FIG. 1, in the present embodiment, the tower crane may include a tower body 110 and a top loading device, which may rotate around the tower body 110 (e.g., a slewing gear of the tower body). The upper assembly may include a balance arm 120, a lift arm 130, a fixed counterweight 140, and a moving counterweight 150. The fixed counterweight 140 may be fixed at the balance arm side, e.g., may be fixed at the distal end of the balance arm 120 (i.e., away from the tower crane center of gyration). The upper assembly may be provided with a guide rail (not shown) extending from the balance arm side to the jib side, along which the movable counterweight 150 can move. The boom 130 can be provided with a luffing trolley 160 and a slide rail for the luffing trolley 160 to move (luffing), and the luffing trolley 160 can be connected with the hook 170 through a lifting rope.
Fig. 2 schematically shows a flow chart of a control method for a tower crane according to an embodiment of the application. The control method shown in fig. 2 may be applied to the tower crane shown in fig. 1. As shown in fig. 2, in the embodiment of the present application, the control method may include the following steps.
In step S210, hoisting object information of the object to be hoisted is obtained, where the hoisting object information may include at least the weight and the hoisting position of the object to be hoisted.
Specifically, in the embodiment of the application, the weight and the lifting position of the object to be lifted which are determined in advance can be obtained. In one example, the weight of the object to be hoisted can be obtained in a machine vision mode. For example, a mark can be attached to the object to be hoisted, the mark is printed with the weight information of the object to be hoisted, an image of the mark can be obtained, and the weight information of the object to be hoisted can be obtained through semantic recognition. In another example, a pre-planned hoisting task may be obtained, which may include information such as the weight of the object to be hoisted and a hoisting path. In yet another example, the hoisting position can be obtained by detecting the amplitude of the amplitude variation trolley (i.e., the distance of the amplitude variation trolley from the center of rotation of the tower crane along the jib). In yet another example, the hoist position may be obtained based on positioning technology (e.g., RTK).
In step S220, the moment to be applied to the tower crane by the object to be hoisted is determined according to the weight and the hoisting position of the object to be hoisted.
Specifically, in the embodiment of the present application, after the weight and the lifting position of the object to be lifted are obtained, a distance (i.e., a moment arm) between an action line of a force applied by the object to be lifted to the crane boom and a rotation center of the tower crane can be determined according to the lifting position, and a moment (hereinafter, may be referred to as a first moment) that the object to be lifted will act on the tower crane can be obtained according to the weight and the moment arm of the object to be lifted.
In step S230, a pre-equilibrium position of the moving counterweight is determined based on the first moment.
Specifically, fig. 3A and 3B schematically illustrate a change in position of a moving counterweight when determining a pre-balancing position of the moving counterweight in a control method for a tower crane according to an embodiment of the present application. As shown in fig. 3A and 3B, in the embodiment of the present application, when the tower crane is in an empty hook state (fig. 3A), i.e., when the object to be hoisted is not hoisted, the movable counterweight 310 may be located at an initial position (position a) on the boom side, and at this time, the moment of the boom side relative to the tower body (e.g., the center of rotation of the tower crane) and the moment of the boom side relative to the tower body (e.g., the center of rotation of the tower crane) are in a moment balance state. In one example, the moment balance state may be that the moment of the boom side relative to the tower body is equal to the moment of the boom side relative to the tower body. In another example, the moment equilibrium state may be that the total moment of the upper mount may be slightly biased toward the boom side, such that the upper mount has a tendency to tilt slightly forward (i.e., toward the boom side). That is, the moment of the boom side relative to the tower body is slightly larger than the moment of the counterweight side relative to the tower body. For example, the total moment of the loader does not exceed the rated moment of the tower crane, and may be, for example, 5% to 30% of the rated moment. Here, the rated torque may refer to a maximum lifting torque of the tower crane set according to a safety design requirement. In general, the rated torque should be smaller than the limit torque of the tower crane, where the limit torque may be the minimum torque that can cause the tower crane to overturn.
If the object to be hoisted is hoisted by the tower crane, the first moment is added on the side of the hoisting arm, and the moment balance state is broken. To reach the moment equilibrium again, the movable counterweight can be moved from the initial position on the jib side to the counterweight arm side until the pre-equilibrium position (position B) is reached. In an example, the pre-equilibrium position may be determined according to the following manner.
Assuming that the hoisting arm side and the balance arm side reach a moment balance state after the object to be hoisted is hoisted, the formula (1) is satisfied:
M l +M j ＝W c L+M b + Δ M formula (1)
Wherein M is l Is the suspension load moment, M j Is the moment of the boom, W c Is the weight of the movable balance weight, L is the distance from the movable balance weight to the rotation center of the tower crane, M b Is the balance arm and the fixed balance weight moment, and Δ M is the set forward tilt moment. If the moment on the counterweight arm side and the moment on the jib side are required to be equal, Δ M may be equal to zero.
In the formula (1), M j ，M b And Δ M is a determined value, and M l Satisfies formula (2):
M l ＝M d +W d formula (2)
Wherein M is d Is a first moment, W d The total weight of the amplitude variation trolley, the lifting rope and the lifting hook is l, and the distance from the amplitude variation trolley to the rotation center of the tower crane is l. Due to the total weight (namely W) of the luffing trolley, the lifting rope and the lifting hook d ) Can be predetermined, l can be determined according to the lifting position of the object to be lifted, so M can be determined l 。
Equation (1) can be rewritten as:
L＝(M l +M j –M b –Δm)/W c
l can thus be obtained.
After determining L, a pre-equilibrium position of the moving counterweight can be determined based on L.
In step S240, the mobile counterweight is controlled to move from the boom side to the pre-equilibrium position.
In particular, in the embodiments of the present application, the upper casing may be provided with a driving mechanism for driving the moving counterweight to move along the guide rail. In one example, the drive mechanism may include a motor, a reducer, a brake, a drum, and a pulley block. The motor may comprise, for example, a stepper motor or a servo motor. The motor can be connected with the winding drum through a speed reducer and is used for driving the winding drum to rotate. The reel may have a pull cord wound thereon, one end of the pull cord may be connected to one side of the movable counterweight and the other end may be connected to the other side of the movable counterweight through the pulley block. The brake is used to brake (slow down or stop) the drum. The reciprocating motion of the movable balancing weight on the guide rail is realized by driving the winding drum to rotate forwards or backwards through the motor.
After determining the pre-equilibrium position, the distance that the moving counterweight will move from the initial position to the pre-equilibrium position (i.e., L + L) may be determined inl Wherein L is inl The distance from the initial position of the movable balance weight to the rotation center of the tower crane), the control driving mechanism drives the movable balance weight to move the distance along the guide rail, and the movable balance weight reaches the pre-balance position. By an electric motorFor example, after determining the distance to be moved by the moving counterweight from the initial position to the pre-equilibrium position, the processor may convert the distance into an angular displacement to be operated by the stepper motor, and output a corresponding control signal to the motor to drive the motor to rotate the angular displacement. In one example, a position sensor (e.g., an encoder or a distance-measuring sensor) may be provided to detect the distance the moving counterweight has moved to provide closed-loop control of the movement of the moving counterweight. The movable balance weight is pre-adjusted to the pre-balance position before the tower crane lifts, so that the time for moving the movable balance weight in the lifting process can be saved, and the lifting efficiency is improved.
If the weight of the object to be hoisted is smaller, the self structure of the tower crane is enough to bear the moment applied by the object to be hoisted, and the position of the movable counterweight does not need to be adjusted. Fig. 4 schematically shows a flow chart of a control method for a tower crane according to another embodiment of the present application. The same reference numerals are used in fig. 4 for the same steps as in fig. 3. As shown in fig. 4, in the preferred embodiment of the present application, the control method may further include the following steps.
In step S410, the first torque is compared with the set safety torque. Specifically, the set safety torque may be set according to actual design requirements. Generally, the set safe torque does not exceed the rated torque of the tower crane. In one example, the set safe torque may be 20% to 60% of the maximum torque. In the case where the first torque is larger than the set safe torque, the step of determining the pre-equilibrium position of the moving counterweight based on the first torque is performed (step S230).
In step S420, the moving counterweight is held at the initial position in the case where the first torque is smaller than the set safe torque.
In some applications, it may be desirable for safety reasons that the moment of the top-loading of the tower crane relative to the tower (or the centre of rotation of the tower crane) in the hook-free state (i.e. without lifting the load) does not exceed a set value, and correspondingly that the movement of the mobile counterweight to the side of the counterweight arm does not exceed a set position. Fig. 5 schematically shows a flow chart of a control method for a tower crane according to another embodiment of the present application. The same reference numerals are used in fig. 5 for the same steps as in fig. 3 or 4. As shown in fig. 5, in the preferred embodiment of the present application, the control method may further include the following steps.
In step S510, determining whether a distance between the pre-equilibrium position and the tower is greater than a distance between the set safety position and the tower;
in step S520, when the distance between the pre-equilibrium position and the tower body is greater than the distance between the set safety position and the tower body, the movable counterweight is controlled to move from the crane boom side to the set safety position.
And controlling the movable balance weight to move from the lifting arm side to the pre-balance position if the distance between the pre-balance position and the tower body is smaller than the distance between the set safety position and the tower body (namely, the pre-balance position does not exceed the set safety position).
In particular, the maximum moment of the tower crane on the top in the hook-free state (maximum moment on the boom side) can be determined. The maximum torque does not exceed the rated torque of the tower crane. For example, in one example, the maximum torque may be 20% to 40% of the rated torque. The set safe position can then be determined according to equation (3). When the tower crane moves the balance weight to the set safety position in the hook-free state, the loading moment can be the maximum moment.
M max +M j ＝W c L+M b Formula (3)
Wherein M is max Is the maximum moment, M j Is moment of the boom, W c Is the weight of the movable balance weight, L is the distance from the movable balance weight to the rotation center of the tower crane, M b Is a balance arm and fixes a balance moment of gravity.
The distance L from the movable balance weight to the rotation center of the tower crane can be obtained according to the formula (3), namely, the set safety position can be determined. The control of the movement of the moving counterweight to the set safe position may be performed in the same manner as the control of the movement of the moving counterweight to the pre-equilibrium position, and will not be described further herein.
After the moving counterweight is moved to a target position (e.g., a pre-equilibrium position or a set-safe position), a hoisting operation is allowed. In an application scenario, the control method of the above embodiment may be executed by a tower crane controller of a tower crane. In other application scenarios, the control method of the above embodiment may be executed by an entity other than the tower crane controller. In an example, the control method may be performed by a separate processor. In this case, the processor may communicate with the tower crane controller (e.g. via a communication module). After the movable balance weight is moved to the target position, the processor can send a signal for allowing the lifting operation to the tower crane controller, and the tower crane controller can send a prompt for allowing the lifting operation after receiving the signal (for example, in a sound, light or other modes, or corresponding information is displayed on a display screen in a cab of the tower crane). In another example, the control method may be performed by a cloud management platform. In this case, the cloud management platform may communicate with the tower crane controller. After the movable balance weight is moved to the target position, the cloud management platform can send a signal allowing lifting operation to the tower crane controller, and the tower crane controller can send a prompt allowing lifting operation after receiving the signal (for example, in a sound mode, a light mode or the like, or corresponding information is displayed on a display screen in a cab of the tower crane). In addition, the cloud management platform can also send information (for example, a real-time position) related to the movement of the mobile counterweight to the tower crane controller, and the tower crane controller can display the information through the display screen.
If the movable balance weight moves to the set safety position in the state of no hook, the movement of the movable balance weight can be further controlled when hoisting is started. In particular, in the embodiment of the present application, in the application of a large or even ultra-large tower crane, during the hoisting process, since the weight of the hoisted object may be large, it is desirable to cause as little fluctuation as possible in the loading moment during the process of controlling the movement of the movable counterweight to match the moment. For which a segmented control of the moving counterweight movement can be used.
When a change in the lifting moment is detected (e.g., by a processor), the overall moment of the upper load (including the balance arm and the lift arm) is expected to be within a safe range. A plurality of torque zones may be divided, and each torque zone may be associated with a target position of a moving counterweight. If the lifting moment is within a certain moment interval, the movable balance weight is moved to the corresponding target position, so that the difference between the moment on the lifting arm side and the moment on the balance arm side is as small as possible, and the loaded overall moment is within a safe range (for example, the moment of the balance arm and the lifting arm is balanced, or the loaded overall moment is less than n% of the rated moment, wherein n can be determined according to safety requirements, for example, n =3,5,10,15 and the like). Specifically, when load moment changes and gets into certain moment interval in a plurality of moment intervals, can keep load moment unchangeable, control movable balance weight removes the target location that corresponds with this moment interval, then removes the restriction that changes load moment, when load moment changes to another moment interval, keeps load moment unchangeable again, controls movable balance weight and removes another target location that this another moment interval corresponds. And so on until the hoisting moment is not changed any more.
In a preferred embodiment of the present application, the control method may further include:
in step S610, in the process of lifting an object to be lifted, the lifting moment of the tower crane is monitored;
in step S620, in the case that it is monitored that the lifting moment is increased to a target moment interval of the plurality of moment intervals, the lifting moment is kept unchanged until the movable balance weight is controlled to move to a target position corresponding to the target moment interval;
wherein a moment interval of the plurality of moment intervals corresponds to a target position of the moving counterweight.
Specifically, in this embodiment, in the case where it is detected that the lifting moment is increased to a target moment section among the plurality of moment sections, keeping the lifting moment constant until the movable counterweight is controlled to move to a target position corresponding to the target moment section includes:
when the lifting moment is increased to a first moment interval in the moment intervals, maintaining the lifting moment, and controlling the movable balance weight to move to a first target position corresponding to the first moment interval;
the hoisting moment is continuously increased;
when the lifting moment is increased to a second moment interval adjacent to the first moment interval in the moment intervals, maintaining the lifting moment and controlling the movable balance weight to move to a second target position corresponding to the second moment interval;
wherein the first target position is further away from the tower than the set safe position.
Specifically, in one example, the weight applied to the boom by the hoists can be detected by a weight detection device. For example, an example of the weight detecting device may include a load cell, which may be provided at the hook, for detecting the weight of the hoisted object. The moment arm of the gravity of the hoisted object relative to the rotation center of the tower crane (the position of the rotation center of the tower crane is known) can be determined by detecting the amplitude of the amplitude-variable trolley (namely the distance of the amplitude-variable trolley from the rotation center of the tower crane along the cargo boom) through a position sensor (such as a rotary encoder or a pull wire sensor), and the moment of the hoisted object can be determined according to the weight of the hoisted object and the moment arm. The hoisting load of the tower crane can comprise the sum of the weight of the hoisted object and the weight of the lifting hook and the lifting rope, and the weights of the lifting hook and the lifting rope can be predetermined, so that the hoisting load (hoisting load) can be obtained by obtaining the weight of the hoisted object, and the hoisting load moment (hoisting moment) can be obtained according to the hoisting load and the force arm. In another example, the lifting moment may be measured directly by a torque sensor.
In the embodiment of the present application, the plurality of torque sections may be continuous torque sections. A plurality of torque intervals can be divided according to the rated torque and the set safety position of the tower crane. Specifically, in one example, as described above, assuming that the top-loading total moment is 20% of the rated moment when the movable balance weight is in the set safe position in the hook-free state and tends toward the balance arm side (i.e., such that the balance arm tends to tilt downward), if the top-loading total moment is allowed to tend such that the maximum moment on the crane arm side does not exceed 30% of the rated moment, the movable balance weight can be controlled to move from the set safe position toward the distal end of the balance arm (i.e., away from the tower body) again when the lifting moment exceeds 50% of the rated moment. Thus, the plurality of torque intervals may comprise a first torque interval: [50% rated torque, 75% rated torque), second torque interval: [75% rated torque, 100% rated torque), the third torque interval: [100% rated torque, 110% rated torque), and a fourth torque interval: more than or equal to 110 percent of rated torque. In this example, the limit torque may be 120% of the rated torque. After determining the torque intervals, a target position corresponding to each torque interval may be determined. The target position may be determined in the same manner as the safe position is set, i.e., a torque value is selected from the torque interval, and the position where the moment value is generated by moving the counterweight is determined according to the torque value, i.e., the target position in the torque interval. When the lifting moment exceeds the rated moment, the movable counterweight can be prohibited from moving for safety.
Due to the large weight of the moving counterweight, its inertia is also large. In order to be able to accurately control the movement of the moving counterweight to the target position (e.g. the pre-equilibrium position) without giving a large impact to the pulling rope due to its large inertia, a speed control strategy for the moving counterweight may be added.
In the preferred embodiment of the present application, the speed control strategy for moving the counterweight can be determined based on the distance that the counterweight is moving significantly.
Specifically, the moving counterweight may be controlled to accelerate to a speed, and then a distance (displacement) traveled by the moving counterweight at the set acceleration from the speed to zero may be determined based on the speed and the set acceleration, and when the moving counterweight moves at the speed to a distance different from a target position (e.g., a pre-equilibrium position), the moving counterweight may be controlled to begin decelerating at the acceleration (e.g., control a brake or motor brake), and when the speed of the moving counterweight decreases to zero, the moving counterweight may stop at the target position.
In order to minimize the time consuming moving of the moving counterweight, a set maximum pulling force to be applied by the pulling rope (i.e. a pulling force to be applied by the pulling rope not exceeding the set maximum pulling force) and a maximum allowable speed for moving the counterweight may be set. According to the relation of force, mass and accelerationF = ma, and a = F/m. Since F (set maximum pull) and m (moving-counterweight mass) are already determined values, the maximum acceleration ± a (i.e., the maximum allowable acceleration of the moving counterweight (positive sign for acceleration and negative sign for deceleration)) is also known. Let the maximum allowable speed be v max Then, there is formula (4):
wherein t is 2 Is the time that the mobile counterweight is moving at the maximum allowable speed,/ 1 Is the displacement of the moving counterweight from zero acceleration to the maximum allowable speed,/ 2 Is the position at which the movable counterweight moves at a uniform speed at the maximum allowable speed, l 3 Is the displacement of the moving counterweight from the maximum allowable speed deceleration to zero.
Suppose the distance of the important movement of the balance is L, if L>l 1 +l 3 It can be determined that the moving balance weight can be controlled to accelerate (acceleration a) to the maximum allowable speed v max Then at a distance l from the target position (e.g. pre-equilibrium position) 3 Can be driven from the maximum allowable speed v max Decelerating to zero (acceleration of-a). In this case, the moving time of the moving counterweight is short using the speed control strategy.
If L is<l 1 +l 3 It means that the distance of the important movement of the moving balance is not enough for the moving balance to accelerate to the maximum allowable speed v with the acceleration a max And then decelerates to zero with acceleration (-a) to just reach the target position (e.g., pre-equilibrium position). Thus, in this case, moving the counterweight may have a process of first accelerating and then decelerating. Suppose that the moving counterweight is first accelerated to a velocity v, the acceleration being a 1 A distance of movement l 1 Then there is
Moving the counterweight from velocity v at acceleration-a 2 Decelerated to zero and moved over a distance l 2 Then there is
Wherein l 1 +l 2 L. Suppose | a 1 |＝|a 2 If | = | a |, then there are
l 2 And (5) = L/2. In this case, the moving-counterweight may be controlled to accelerate at an acceleration a to a velocity v and then decelerate at an acceleration-a to zero, and/or to begin decelerating at an acceleration-a when it is determined that the moving-counterweight is at a distance L/2 from a target position (e.g., a pre-equilibrium position).
Fig. 7 schematically shows a flow chart of a control method for a tower crane for controlling the movement of a moving counterweight according to an embodiment of the present application. In the preferred embodiment, controlling the moving of the moving counterweight to the target position may include the following steps.
In step S710, a distance (first distance) of the movement balance important movement is determined according to the target position;
in step S720, determining a deceleration distance that the moving-counterweight needs to move when decelerating from the maximum allowable speed to zero at the first maximum allowable acceleration based on the maximum allowable speed of the moving-counterweight and the first maximum allowable acceleration;
in step S730, it is determined whether the deceleration distance is less than half of the distance to be moved;
in step S740, in the case where the deceleration distance is less than half the distance that needs to be moved, controlling the moving counterweight to accelerate from zero to the maximum allowable speed at a second maximum allowable acceleration, the first maximum allowable acceleration being equal to the second maximum allowable acceleration in absolute value;
in step S750, the moving-counterweight is controlled to decelerate from the maximum allowable speed to zero at a first maximum allowable acceleration in the case where the moving-counterweight has moved the deceleration distance from the target position;
in step S760, the moving counterweight is controlled to accelerate from zero to a predetermined speed at the second maximum allowable acceleration and then decelerate to zero at the first maximum allowable acceleration in the event that the deceleration distance is greater than or equal to half the distance to be moved, or the moving counterweight is controlled to accelerate from zero at the second maximum allowable acceleration and decelerate to zero at the first maximum allowable acceleration when the moving counterweight has moved half the distance to be moved.
In the embodiment of the present application, the target position may be a pre-equilibrium position or a set safety position.
In an embodiment of the application, the re-determined velocity may be the square root of the absolute value of the product of the first maximum allowed acceleration and the distance that needs to be moved.
In an embodiment of the present application, the maximum allowable speed may be associated with the first torque. In particular, the greater the first torque, the smaller the maximum allowable speed, i.e. the maximum allowable speed is negatively correlated with the first torque. In an example, a plurality of torque intervals may be set, each torque interval being associated with a maximum allowable speed, and after determining the first torque, it may be determined which torque interval it belongs to according to the determined first torque, and the maximum allowable speed corresponding to the belonging torque interval is the required (interested) maximum allowable speed.
In the embodiment of the present application, PID control may be adopted for the control of the movement of the moving balance weight.
In an embodiment of the present application, a processor is provided, which may be configured to execute the control method for a tower crane in any of the embodiments described above.
In this embodiment, the processor may be or the functions performed by the processor may be integrated into a tower crane controller of a tower crane.
In embodiments of the present application, the processor may be a separate processor, which may communicate with the tower crane controller of the tower crane (e.g., via the communication module). After the movable balance weight is moved to the target position, the processor can send a signal for allowing the lifting operation to the tower crane controller, and the tower crane controller can send a prompt for allowing the lifting operation after receiving the signal (for example, by means of sound, light and the like, or corresponding information is displayed on a display screen in a driver's cab of the tower crane).
In an embodiment of the present application, a cloud management platform may include the processor. In this case, the cloud management platform may communicate with the tower crane controller. After the movable balance weight is moved to the target position, the cloud management platform can send a signal allowing lifting operation to the tower crane controller, and the tower crane controller can send a prompt allowing lifting operation after receiving the signal (for example, in a sound mode, a light mode or the like, or corresponding information is displayed on a display screen in a driver's cab of the tower crane). In addition, the cloud management platform can also send information (for example, a real-time position) related to the movement of the mobile counterweight to the tower crane controller, and the tower crane controller can display the information through the display screen.
Fig. 8 schematically shows a block schematic diagram of a control arrangement for a tower crane according to an embodiment of the present application. As shown in fig. 8, in an embodiment of the present application, a control device for a tower crane is provided, the tower crane may include a tower body and a top loading device, the top loading device may include a balance arm, a boom, a fixed counterweight and a movable counterweight, the fixed counterweight may be fixed on the side of the balance arm, the top loading device is provided with a guide rail extending from the side of the balance arm to the side of the boom, the movable counterweight may be movable along the guide rail, and the control device may include:
a drive mechanism 812 for driving the moving counterweight to move along the guide rail, an
A processor 814 configured to perform the control method for a tower crane of any of the embodiments described above.
Fig. 9A-9E schematically illustrate schematic block diagrams of a drive mechanism according to embodiments of the present application. As shown in fig. 9A-9E, in particular, in a particular embodiment of the present application, the upper assembly may comprise a guide wheel 41 arranged on the moving counterweight 4 and moving in cooperation with the guide rail.
In the embodiment of the present application, the upper assembly may be a truss structure, the truss structure includes an upper truss structure and a lower truss structure arranged up and down, a channel for the movable counterweight 4 to move is formed in the upper truss structure, the upper truss structure includes two upper chords 51 arranged in parallel, a lower cover plate 52 is arranged at the bottom of the upper chords 51, flange plates extending inward from the two lower cover plates 52 are formed as guide rails, and the guide wheels 41 are symmetrically arranged on the left and right sides of the movable counterweight 4.
In the present embodiment, the upper truss framework and the lower truss framework are connected by a pin 53.
In the embodiment of the present application, the driving mechanism 812 may include a winch 6, a first pulley block and a second pulley block, the first pulley block is installed on the boom 1, the second pulley block is installed on the balance arm 2, the winch 6 is connected to one end of the movable balance weight 4 by bypassing the first pulley block through a traction rope, and the winch 6 is connected to the other end of the movable balance weight 4 by bypassing the second pulley block through another traction rope, so as to enable the winch 6 to synchronously release the another traction rope while winding the one traction rope, thereby driving the movable balance weight 4 to move.
In the embodiment of the present application, the first pulley block comprises a first pulley 71 and a second pulley 72, the first pulley 71 is installed on the inner surface of the top of the upper truss structure of the crane boom 1, the second pulley 72 is installed on the pin 53 between the upper truss structure and the corresponding lower truss structure, one end of a traction rope is connected with the winch 6, and the other end thereof is connected with one end of the movable counterweight 4 by sequentially passing through the second pulley 72 and the first pulley 71; the second pulley block comprises a third pulley 73 and a fourth pulley 74, the third pulley 73 is mounted on the inner surface of the top of the upper truss structure of the balance arm 2, the fourth pulley 74 is mounted on the pin 53 between the upper truss structure and the corresponding lower truss structure, one end of another traction rope is connected with the winch 6, and the other end thereof is connected with the other end of the movable counterweight 4 by sequentially passing around the fourth pulley 74 and the third pulley 73.
In the present embodiment, the front and other ends of the movable counterweight 4 are respectively provided with a mount 42 for connecting with a traction rope.
In the present embodiment, a diagonal brace 54 is provided within the lower truss structure.
In the embodiment of the present application, the hoist 6 may include a motor, a reducer, a brake, and a drum. The motor may comprise, for example, a stepper motor or a servo motor. The motor can be connected with the winding drum through a speed reducer and is used for driving the winding drum to rotate. On the drum, a pulling rope can be wound, which is connected to the moving counterweight 4 as described above. The brake is used to brake (slow down or stop) the drum. The reciprocating movement of the moving counterweight on the guide rails is realized by the motor driving the winding drum to rotate forwards or backwards, and the moving speed of the moving counterweight 4 can be controlled by controlling the rotating speed of the motor.
In a preferred embodiment of the present application, the control device may further include: a position detection device 816 for detecting the position of the moving counterweight.
In particular, the location detection device 816 may be implemented using a variety of forms. In an example, position detection device 816 can include an encoder, examples of which can include, but are not limited to, an absolute value encoder and an incremental encoder. The encoder may be configured to detect an angular displacement (e.g., number of rotations) of the motor or reducer, from which the angular displacement of the drum is determined, thereby determining the length of the rope being taken up or paid out by the drum. Alternatively, the encoder may be configured to detect an angular displacement of the spool to determine the length of the spool to take up or pay out rope. From this length, the distance the moving counterweight has to be moved (e.g. relative to the initial position) can be determined, from which the position of the moving counterweight can be determined. In another example, position detection device 816 may include a ranging sensor (e.g., a laser ranging sensor). The ranging sensors may be located at suitable locations, for example at either end of the rail. The distance of the moving balance weight relative to the distance measuring sensor can be detected by the distance measuring sensor, so that the position of the moving balance weight can be determined. In one example, an encoder or a ranging sensor may also be used to detect the speed at which the moving counterweight is moving.
In the embodiment of the application, the control device may further include a variable amplitude detection device (e.g., an encoder, a pull wire sensor, etc.) for detecting the variable amplitude of the variable amplitude trolley.
In an embodiment of the present application, there is provided a tower crane, which may include:
a tower body;
the facial make-up, the facial make-up includes:
the balance arm is provided with a fixed balance weight;
a cargo boom; and
the movable balance weight is provided with a guide rail extending from the balance arm side to the lifting arm side, and can move along the guide rail;
the control device for a tower crane of any of the embodiments described above.
In this embodiment, the processor of the control device may be a tower crane controller.
In an embodiment of the present application, the tower crane may be a fixed tower crane and a walking tower crane, and the walking tower crane may include a crawler-type tower crane.
In an embodiment of the present application, there is provided a cloud management platform configured to execute the processor of the control method for a tower crane of any of the above embodiments.
In an embodiment of the present application, there is provided a machine-readable storage medium having stored thereon instructions, which when executed by a processor, cause the processor to implement the control method for a tower crane of any of the above-described embodiments.
Through the technical scheme of the embodiment of the application, the pre-balance position of the movable balance weight can be determined in advance according to the moment acting on the crane arm of the object to be hoisted before the object to be hoisted is hoisted, the movable balance weight is moved to the pre-balance position in advance before hoisting, the integral moment of loading is adjusted, and preparation is made for hoisting operation. The scheme can reduce the time for moving the balance weight to an expected position in the lifting operation process through pre-adjustment control, and improves the lifting efficiency.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (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. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (18)
1. A control method for a tower crane, the tower crane including a tower body and a top loading unit, the top loading unit including a balance arm, a boom, a fixed counterweight fixed to a side of the balance arm, and a movable counterweight provided with a guide rail extending from the side of the balance arm to the side of the boom, the movable counterweight being movable along the guide rail, the control method comprising:
obtaining lifting object information of an object to be lifted, wherein the lifting object information comprises at least the weight and the lifting position of the object to be lifted;
determining a first moment of the object to be hoisted, which will act on the tower crane, according to the weight and the hoisting position;
determining a pre-equilibrium position of the moving counterweight based on the first moment; and
controlling the mobile balancing weight to move from the crane arm side to the pre-balancing position.
2. The control method according to claim 1, characterized by further comprising:
controlling the movable balance weight to move from the lifting arm side to a set safety position under the condition that the distance between the pre-balance position and the tower body is larger than the distance between the set safety position and the tower body;
when the movable balance weight is located at the set safety position in the hook-free state of the tower crane, the whole machine moment of the tower crane does not exceed the rated moment of the tower crane.
3. The control method according to claim 1, characterized by further comprising:
comparing the first torque with a set safety torque;
determining a pre-equilibrium position of the moving counterweight based on the first moment comprises: determining a pre-equilibrium position of the moving counterweight according to the first torque if the first torque is greater than the set safety torque;
wherein the set safe moment does not exceed the rated moment of the tower crane.
4. The control method according to claim 3, characterized by further comprising:
maintaining the moving counterweight in an initial position if the first torque is less than the set safety torque.
5. The control method according to claim 2, characterized by further comprising:
monitoring the lifting moment of the tower crane in the process of lifting the object to be lifted;
under the condition that the hoisting moment is monitored to be increased to a target moment interval in a plurality of moment intervals, keeping the hoisting moment unchanged until the movable balance weight is controlled to move to a target position corresponding to the target moment interval;
wherein a torque interval of the plurality of torque intervals corresponds to a target position of the moving counterweight.
6. The control method according to claim 5, wherein the keeping the lifting moment constant until the movable balance weight is controlled to move to a target position corresponding to a target moment interval in a plurality of moment intervals in the case of monitoring the lifting moment to increase to the target moment interval comprises:
when the lifting moment is increased to a first moment interval in the plurality of moment intervals, maintaining the lifting moment, and controlling the movable balance weight to move to a first target position corresponding to the first moment interval;
the hoisting moment is continuously increased;
when the lifting moment is increased to a second moment interval adjacent to the first moment interval in the plurality of moment intervals, maintaining the lifting moment, and controlling the movable balance weight to move to a second target position corresponding to the second moment interval;
wherein the first target position is further from the tower than the set safety position.
7. The control method according to any one of claims 1 to 6, wherein controlling the movement of the mobile counterweight from the boom side to the target position comprises:
determining a first distance for moving a balance important movement according to the target position, wherein the target position is the pre-balance position or a set safety position;
determining a deceleration distance that the moving counterweight needs to move when the moving counterweight decelerates from the maximum allowable speed of the moving counterweight to zero at a first maximum allowable acceleration;
judging whether the deceleration distance is smaller than half of the first distance;
in the event that the deceleration distance is less than half the first distance, controlling the moving counterweight to accelerate from zero to the maximum allowable speed at a second maximum allowable acceleration, wherein the first maximum allowable acceleration is equal in absolute value to the second maximum allowable acceleration;
controlling the moving counterweight to decelerate from the maximum allowable speed to zero at the first maximum allowable acceleration if the moving counterweight has moved the deceleration distance from the target position;
-controlling the moving counterweight to accelerate from zero to a predetermined speed at the second maximum allowable acceleration and to decelerate to zero at the first maximum allowable acceleration in case the deceleration distance is greater than or equal to half the first distance, or-controlling the moving counterweight to accelerate from zero at the second maximum allowable acceleration and to decelerate to zero at the first maximum allowable acceleration when the moving counterweight has moved half the first distance.
8. The control method of claim 7, wherein the re-determined speed is the square root of the absolute value of the product of the first maximum allowable acceleration and the first distance.
9. The control method of claim 7, wherein the maximum allowable speed is inversely related to the first torque.
10. A processor configured to perform the control method for a tower crane according to any one of claims 1 to 9.
11. A control device for a tower crane, the tower crane comprising a tower body and a top loading unit, the top loading unit comprising a balance arm, a boom, a fixed counterweight and a mobile counterweight, the fixed counterweight being fixed to the side of the balance arm, the top loading unit being provided with a guide rail extending from the side of the balance arm to the side of the boom, the mobile counterweight being movable along the guide rail, the control device comprising:
a drive mechanism for driving the movable balance weight to move along the guide rail, an
The processor of claim 10.
12. The control device of claim 11, wherein the drive mechanism comprises:
the first pulley block is arranged on the crane boom;
the second pulley block is arranged on the balance arm; and
the hoist engine is walked around through first haulage rope first assembly pulley with the one end of removal balanced heavy is connected to walk around through the second haulage rope the second assembly pulley with the other end of removal balanced heavy is connected, and is right in order to realize first haulage rope with the synchronous roll-up and the release of second haulage rope, thereby the drive remove balanced heavy removal.
13. The control device according to claim 11, characterized by further comprising:
a position detection device for detecting a position of the moving counterweight.
14. A tower crane, comprising:
a tower body;
a top-loading, the top-loading comprising:
the balance arm is provided with a fixed balance weight;
a cargo boom; and
a movable counterweight provided with a guide rail extending from the balance arm side to the jib side, the movable counterweight being movable along the guide rail;
a control apparatus for a tower crane according to any one of claims 11 to 13.
15. The tower crane of claim 14, wherein the processor is a tower crane controller.
16. The tower crane of claim 14, wherein the tower crane comprises a crawler-type tower crane.
17. A cloud management platform comprising the processor of claim 10.
18. A machine-readable storage medium, having stored thereon instructions, which, when executed by a processor, cause the processor to implement the control method for a tower crane according to any one of claims 1 to 9.
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| WO2024055830A1 (en) * | 2022-09-15 | 2024-03-21 | 中联重科建筑起重机械有限责任公司 | Counterweight system and tower crane |
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| WO2024055830A1 (en) * | 2022-09-15 | 2024-03-21 | 中联重科建筑起重机械有限责任公司 | Counterweight system and tower crane |
| CN116281664A (en) * | 2023-03-06 | 2023-06-23 | 中海福陆重工有限公司 | Crawler crane bearing device based on SPMT and control system |
| CN116281664B (en) * | 2023-03-06 | 2024-01-23 | 中海福陆重工有限公司 | Crawler crane bearing device based on SPMT and control system |
| CN116425063A (en) * | 2023-06-13 | 2023-07-14 | 山西机电职业技术学院 | Crane with overload locking device |
| CN117228561A (en) * | 2023-11-14 | 2023-12-15 | 河南省晟源起重机械有限公司 | Large-tonnage crane with rollover prevention system |
| CN117228561B (en) * | 2023-11-14 | 2024-02-02 | 河南省晟源起重机械有限公司 | Large-tonnage crane with rollover prevention system |
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