CN115959582A - Walking type tower crane and leveling method, leveling device and controller thereof - Google Patents

Walking type tower crane and leveling method, leveling device and controller thereof Download PDF

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Publication number
CN115959582A
CN115959582A CN202211125193.4A CN202211125193A CN115959582A CN 115959582 A CN115959582 A CN 115959582A CN 202211125193 A CN202211125193 A CN 202211125193A CN 115959582 A CN115959582 A CN 115959582A
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China
Prior art keywords
leveling
cylinder mechanism
self
piston rod
cylinder
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Chinese (zh)
Inventor
喻乐康
付玲
许辉
魏素芬
郑捷
胡宇智
唐舒堤
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Zoomlion Heavy Industry Science and Technology Co Ltd
Zoomlion Construction Crane Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
Zoomlion Construction Crane Co Ltd
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Priority to CN202211125193.4A priority Critical patent/CN115959582A/en
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Abstract

The embodiment of the application provides a leveling method, a leveling device, a controller, a walking tower crane and a machine readable storage medium for the walking tower crane, which can dynamically level the underframe of the large walking tower crane in real time in the walking process. The walking type tower crane comprises an underframe and a walking mechanism arranged below the underframe, wherein a leveling mechanism is arranged between the underframe and the walking mechanism, the leveling mechanism is used for leveling the underframe, and the leveling method comprises the following steps: determining a tilt angle of the undercarriage relative to a reference horizontal plane; determining whether the inclination angle exceeds a preset angle; and under the condition that the inclination angle exceeds a preset angle, controlling the leveling mechanism to level the underframe according to the inclination angle. Through the technical scheme, the inclination of the tower crane underframe can be dynamically adjusted in real time in the walking process of the large-scale walking type tower crane, the center of the tower crane is always kept at the central position, and the walking safety of the tower crane is improved.

Description

Walking type tower crane and leveling method, leveling device and controller thereof
Technical Field
The application relates to the field of construction machinery, in particular to a leveling method, a leveling device, a controller, a walking tower crane and a machine readable storage medium for the walking 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. The tower crane may include a fixed tower crane and a walking tower crane, and the walking tower crane may include a rubber-tyred tower crane and a crawler-type tower crane. 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 the application of some large-scale walking tower cranes (for example, in the occasions of nuclear power, bridge installation, fan installation and the like), the weight of the whole machine is large, the height of the tower is high, the walking tower crane is required to keep the gravity center at the center of the tower crane in the walking process, and the walking safety of the walking tower crane can be greatly influenced due to small unevenness of the road surface.
Disclosure of Invention
The embodiment of the application aims to provide a leveling method, a leveling device, a controller, a walking tower crane and a machine readable storage medium for the walking tower crane, which can dynamically level the underframe of the large walking tower crane in real time in the walking process.
In order to achieve the above object, a first aspect of the present application provides a leveling method for a traveling tower crane, where the traveling tower crane includes an underframe and a traveling mechanism disposed below the underframe, a leveling mechanism is disposed between the underframe and the traveling mechanism, the leveling mechanism is used to level the underframe, and the leveling method includes:
determining the inclination angle of the chassis relative to a reference horizontal plane;
determining whether the inclination angle exceeds a preset angle; and
and under the condition that the inclination angle exceeds a preset angle, controlling the leveling mechanism to level the underframe according to the inclination angle.
In the embodiment of the application, the inclination angle comprises a longitudinal inclination angle along the traveling direction of the walking tower crane and a transverse inclination angle along the horizontal vertical direction of the traveling direction, and the preset angle comprises a preset longitudinal inclination angle and a preset transverse inclination angle;
controlling the leveling mechanism to level the chassis according to the inclination angle includes:
under the condition that the longitudinal inclination angle is larger than the preset longitudinal inclination angle, controlling the leveling mechanism to adjust the longitudinal inclination angle to be smaller than the target
A trim angle, wherein the target trim angle is less than a preset trim angle;
under the condition that the transverse inclination angle is larger than the preset transverse inclination angle, controlling the leveling mechanism to adjust the transverse inclination angle to be smaller than the target
A roll angle, wherein the target roll angle is less than a preset roll angle;
when the pitch angle is larger than the preset pitch angle and the roll angle is larger than the preset roll angle, the larger one of the pitch angle and the roll angle is adjusted to be smaller than the corresponding one of the target pitch angle and the target roll angle, and the other one of the pitch angle and the roll angle is adjusted to be smaller than the other one of the target pitch angle and the target roll angle.
In the embodiment of the application, the walking mechanism comprises at least a left front crawler group, a right front crawler group, a left rear crawler group and a right rear crawler group, the leveling mechanism comprises at least a left front leveling support leg oil cylinder mechanism arranged between the left front crawler group and the underframe, a right front leveling support leg oil cylinder mechanism arranged between the right front crawler group and the underframe, a left rear leveling support leg oil cylinder mechanism arranged between the left rear crawler group and the underframe and a right rear leveling support leg oil cylinder mechanism arranged between the right rear crawler group and the underframe, each leveling support leg oil cylinder mechanism comprises a leveling support leg oil cylinder, the upper part of each leveling support leg oil cylinder mechanism is fixed on the underframe, the bottom of each leveling support leg oil cylinder body is fixed on the frame of each crawler group, and the leveling mechanism further comprises a hydraulic driving system for driving an oil cylinder piston rod of each leveling support leg oil cylinder to perform telescopic movement;
controlling the leveling mechanism to adjust the pitch angle to less than the target pitch angle comprises:
determining a first length of a piston rod of the oil cylinder required to move according to the longitudinal inclination angle and a first distance, wherein the first distance is a front leveling support leg oil cylinder mechanism and a rear leveling support leg oil cylinder mechanism in the traveling direction in the left front leveling support leg oil cylinder mechanism, the right front leveling support leg oil cylinder mechanism, the left rear leveling support leg oil cylinder mechanism and the right rear leveling support leg oil cylinder mechanism
The distance between the mechanisms;
determining a first target side leveling support leg oil cylinder mechanism and a first target side leveling support leg oil cylinder mechanism from the front side leveling support leg oil cylinder mechanism and the rear side leveling support leg oil cylinder mechanism according to a first length
A target movement direction;
controlling an oil cylinder piston rod of the first target side leveling support leg oil cylinder mechanism to move a first length towards the first target movement direction;
or,
controlling the leveling mechanism to adjust the roll angle to less than the target roll angle comprises:
determining a second length of the oil cylinder piston rod required to move according to the transverse inclination angle and a second distance, wherein the second distance is a left leveling leg oil cylinder mechanism and a right leveling leg oil cylinder mechanism in the left front leveling leg oil cylinder mechanism, the right front leveling leg oil cylinder mechanism, the left rear leveling leg oil cylinder mechanism and the right rear leveling leg oil cylinder mechanism relative to the driving direction
Between the oil cylinder mechanisms;
determining a second target side leveling support leg oil cylinder mechanism and a second target side leveling support leg oil cylinder mechanism from the left side leveling support leg oil cylinder mechanism and the right side leveling support leg oil cylinder mechanism according to the second length
A target movement direction;
and controlling an oil cylinder piston rod of the second target side leveling support leg oil cylinder mechanism to move a second length towards the second target movement direction.
In the embodiment of the present application,
determining a first target movement direction of cylinder piston rods of a first target side leveling support leg cylinder mechanism and a first target side leveling support leg cylinder mechanism from a front side leveling support leg cylinder mechanism and a rear side leveling support leg cylinder mechanism according to a first length, the method comprises the following steps:
determining respective oil of the front side leveling supporting leg oil cylinder mechanism and the rear side leveling supporting leg oil cylinder mechanism according to the first length
Whether the cylinder piston rods can move for a first length according to the respective expected movement directions;
if the cylinder piston rod of only one leveling support leg cylinder mechanism in the front leveling support leg cylinder mechanism and the rear leveling support leg cylinder mechanism can move for a first length according to the expected movement direction, determining the leveling support leg cylinder mechanism of which the cylinder piston rod can move for the first length as a first target side leveling support leg cylinder mechanism, and determining the first target side leveling support leg cylinder mechanism as the second target side leveling support leg cylinder mechanism
The expected movement direction of a target side leveling support leg oil cylinder mechanism is determined as a first target movement direction;
if the cylinder piston rods of the front side leveling support leg cylinder mechanism and the rear side leveling support leg cylinder mechanism can move for a first length according to respective expected movement directions, determining the leveling support leg cylinder mechanism of which the expected movement direction faces the initial position of the cylinder piston rod of the leveling support leg cylinder mechanism in the front side leveling support leg cylinder mechanism and the rear side leveling support leg cylinder mechanism as a first target side leveling support leg cylinder mechanism, and determining the first target side leveling support leg cylinder machine as a second target side leveling support leg cylinder mechanism
The expected movement direction of a piston rod of the oil cylinder is determined as a first target movement direction;
if the expected movement directions of the cylinder piston rods of the front side leveling support leg cylinder mechanism and the rear side leveling support leg cylinder mechanism face the initial position of the cylinder piston rod, determining the leveling support leg cylinder mechanism of which the position of the cylinder piston rod deviates from the initial position of the cylinder piston rod in the front side leveling support leg cylinder mechanism and the rear side leveling support leg cylinder mechanism as a first target side leveling support leg cylinder mechanism, and determining the expected movement direction of the cylinder piston rod of the first target side leveling support leg cylinder mechanism as a first target movement direction;
or,
determining a second target movement direction of cylinder piston rods of the second target side leveling leg cylinder mechanism and the second target side leveling leg cylinder mechanism from the left side leveling leg cylinder mechanism and the right side leveling leg cylinder mechanism according to the second length comprises:
determining respective oil of the left leveling support leg oil cylinder mechanism and the right leveling support leg oil cylinder mechanism according to the second length
Whether the cylinder piston rods can move a second length according to the respective expected movement directions;
if the cylinder piston rod of the leveling leg cylinder mechanism on only one side of the left leveling leg cylinder mechanism and the right leveling leg cylinder mechanism can move for a second length according to the expected movement direction, determining the leveling leg cylinder mechanism with the cylinder piston rod capable of moving for the second length as a second target side leveling leg cylinder mechanism, and determining the first target side leveling leg cylinder mechanism
The expected movement direction of the two target side leveling support leg oil cylinder mechanisms is determined as a second target movement direction;
if the cylinder piston rods of the left leveling leg cylinder mechanism and the right leveling leg cylinder mechanism can move for a second length according to respective expected movement directions, determining the leveling leg cylinder mechanism of which the expected movement direction faces the initial position of the cylinder piston rod of the leveling leg cylinder mechanism in the left leveling leg cylinder mechanism and the right leveling leg cylinder mechanism as a second target side leveling leg cylinder mechanism, and determining the second target side leveling leg cylinder machine
The expected movement direction of the piston rod of the oil cylinder is determined as a second target movement direction;
and if the expected movement directions of the cylinder piston rods of the left leveling support leg cylinder mechanism and the right leveling support leg cylinder mechanism face the initial position of the cylinder piston rod, determining the leveling support leg cylinder mechanism of which the position of the cylinder piston rod deviates from the initial position of the cylinder piston rod in the left leveling support leg cylinder mechanism and the right leveling support leg cylinder mechanism as a second target side leveling support leg cylinder mechanism, and determining the expected movement direction of the cylinder piston rod of the second target side leveling support leg cylinder mechanism as a second target movement direction.
In the embodiment of the application, the initial position of the piston rod of the oil cylinder is the middle position of the top dead center and the bottom dead center of the piston rod of the oil cylinder.
In the embodiment of the present application,
controlling the leveling mechanism to adjust the pitch angle to be less than the target pitch angle further comprises:
acquiring a detected longitudinal inclination angle of the underframe;
under the condition that the detected trim angle is smaller than the target trim angle, controlling an oil cylinder piston rod of the first target side leveling support leg oil cylinder mechanism to stop moving;
or,
controlling the leveling mechanism to adjust the roll angle to less than the target roll angle comprises:
acquiring a detected transverse inclination angle of the underframe;
and controlling the cylinder piston rod of the second target side leveling support leg cylinder mechanism to stop moving under the condition that the detected transverse inclination angle is smaller than the target transverse inclination angle.
In this application embodiment, every leveling leg cylinder mechanism includes:
an oil cylinder;
the self-locking nut is used for being attached to the outer end face of the cylinder cover of the oil cylinder to carry out mechanical locking; and
a self-locking driving device provided with a rotary power mechanism;
the self-locking driving device is in transmission connection with the self-locking nut and is used for driving the self-locking nut to rotate around the piston rod of the oil cylinder;
the leveling method further comprises the following steps:
in the process of controlling the hydraulic driving system to drive the oil cylinder piston rod to move towards the first movement direction at the first movement speed, the self-locking driving device is controlled to drive the self-locking nut to rotate, so that the self-locking nut synchronously moves towards the second movement direction opposite to the first movement direction, and the self-locking nut is kept in a state of being attached to the outer end face of the cylinder cover or can reset and move to a state of being attached to the outer end face of the cylinder cover within a set displacement deviation interval range.
In this application, in the process of controlling the hydraulic drive system to drive the cylinder piston rod to move in the first movement direction at the first movement speed, the self-locking drive device is controlled to drive the self-locking nut to rotate, so that the self-locking nut moves in a second movement direction opposite to the first movement direction synchronously, including:
and under the condition that the first movement direction is upward movement, controlling the self-locking driving device to drive the self-locking nut to rotate towards the first rotation direction at a first rotation speed, so that the downward movement speed of the self-locking nut relative to the piston rod of the oil cylinder is kept synchronous with the first movement speed, and the self-locking nut is kept to be attached to the outer end face of the cylinder cover.
In this application, controlling the self-locking driving device to drive the self-locking nut to rotate in a first rotation direction at a first rotation speed, so that the speed of the self-locking nut moving downwards relative to the cylinder piston rod is kept synchronous with the first movement speed, includes:
controlling the first rotating speed to control the gap between the self-locking nut and the outer end face of the cylinder cover to be below a set threshold value; and
and when the clearance exceeds a set threshold value, performing abnormal alarm.
In the embodiment of the application, a self-locking nut limiting piece is fixed on a cylinder body or a cylinder cover of the oil cylinder, the self-locking nut limiting piece is provided with a limiting part which is used for being attached to the outer end face, back to the cylinder cover, of the self-locking nut to limit movement, and the limiting part and the outer end face of the self-locking nut keep a set interval in a state that the self-locking nut is attached to the outer end face of the cylinder cover;
in the process of controlling a hydraulic drive system to drive a piston rod of an oil cylinder to move towards a first movement direction at a first movement speed, controlling a self-locking drive device to drive a self-locking nut to rotate so as to enable the self-locking nut to move towards a second movement direction opposite to the first movement direction synchronously, and the method comprises the following steps:
under the condition that the first movement direction is downward movement, controlling a hydraulic drive system to drive a piston rod of an oil cylinder to move upwards;
controlling the self-locking driving device to drive the self-locking nut to rotate so that the self-locking nut moves upwards to be attached to the limiting part;
controlling a hydraulic driving system to drive a piston rod of an oil cylinder to move downwards at a first movement speed;
controlling a self-locking driving device to drive a self-locking nut to rotate so that the self-locking nut synchronously moves upwards, and keeping the self-locking nut close to the limiting part;
and after the piston rod of the oil cylinder stops moving, controlling the self-locking driving device to drive the self-locking nut to rotate so that the self-locking nut moves downwards to be attached to the outer end face of the cylinder cover.
In the embodiment of the application, the maximum linear speed of the self-locking nut relative to the piston rod of the oil cylinder is greater than the maximum movement speed of the piston rod of the oil cylinder.
In an embodiment of the application, the tower crane further includes a tower body mounted on the underframe, and determining the inclination angle of the underframe relative to the reference horizontal plane includes:
acquiring the verticality information of the tower body determined by using a real-time dynamic carrier phase difference RTK technology;
acquiring an inclination angle of the chassis detected by using an inclination angle sensor;
the detected inclination of the chassis is calibrated using the perpendicularity information.
In the embodiment of the application, the walking tower crane further comprises a tower body arranged on the underframe and an upper assembly hinged with the tower body, wherein the upper assembly comprises a balance arm, a lifting arm, a fixed balance weight and a movable balance weight, the fixed balance weight is fixed on the side of the balance arm, the upper assembly is provided with a guide rail extending from the side of the balance arm to the side of the lifting arm, and the movable balance weight can move along the guide rail;
the leveling method further comprises the following steps:
controlling a cargo boom to rotate to be parallel to the traveling direction of the walking tower crane; and
and adjusting the position of the movable balance weight to adjust the gravity center of the walking type tower crane to the central position of the tower body.
A second aspect of the present application provides a controller configured to perform the above leveling method for a walking tower crane.
The third aspect of the application provides a levelling device for walking tower machine, and walking tower machine includes the chassis and sets up the running gear below the chassis, and levelling device includes:
the leveling mechanism is arranged between the bottom frame and the travelling mechanism and is used for leveling the bottom frame;
a tilt sensor configured to detect a tilt of the chassis with respect to a reference horizontal plane; and
the controller is described above.
In an embodiment of the present application, a traveling mechanism includes: at least a left front crawler group, a right front crawler group, a left rear crawler group and a right rear crawler group;
the leveling mechanism comprises a left front leveling support leg oil cylinder mechanism at least arranged between a left front crawler belt group and an underframe, a right front leveling support leg oil cylinder mechanism arranged between a right front crawler belt group and the underframe, a left rear leveling support leg oil cylinder mechanism arranged between a left rear crawler belt group and the underframe and a right rear leveling support leg oil cylinder mechanism arranged between the right rear crawler belt group and the underframe, each leveling support leg oil cylinder mechanism comprises a leveling support leg oil cylinder, the upper part of each leveling support leg oil cylinder mechanism is fixed on the underframe, the bottom parts of cylinder bodies of the leveling support leg oil cylinders are fixed on the vehicle frames of the respective crawler belt groups, and the leveling mechanism further comprises a hydraulic driving system for driving oil cylinder piston rods of the leveling support leg oil cylinders to perform telescopic motion.
The fourth aspect of the present application provides a walking tower crane, comprising:
a chassis;
the travelling mechanism is arranged below the underframe; and
the leveling device for the walking tower crane is disclosed.
In the embodiment of the application, the walking mechanism comprises at least a left front crawler group, a right front crawler group, a left rear crawler group and a right rear crawler group;
walking tower machine still including installing the body of the tower on the chassis and with body of the tower articulated facial make-up, the facial make-up includes balance arm, jib loading boom, fixed balanced heavy and remove balanced heavy, fixed balanced heavy is fixed in balance arm side, the facial make-up is provided with the guide rail that extends to the jib loading boom side from balance arm side, removes balanced heavy can follow the guide rail and removes.
A fifth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to implement the above leveling method for adjusting a walking tower crane.
Through the technical scheme, the inclination of the tower crane underframe can be dynamically adjusted in real time in the walking process of the large-scale walking type tower crane, the center of the tower crane is always kept at the central position, and the walking safety of the tower crane 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 application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the detailed description serve to explain the embodiments of the application and not to limit the embodiments of the application. In the drawings:
fig. 1 schematically shows a schematic structural diagram of a walking tower crane according to an embodiment of the present application;
fig. 2 schematically shows the undercarriage and the travelling mechanism of the travelling tower crane shown in fig. 1;
fig. 3 schematically shows a structural block diagram of a leveling device for a walking tower crane according to an embodiment of the present application;
FIG. 4A is a schematic view of the construction of a moving counterweight system in an embodiment of the present application;
fig. 4B is a partially enlarged view of a portion a in fig. 4A;
fig. 4C is a partially enlarged view of a portion B in fig. 4A;
FIG. 4D is a schematic view of the structure of FIG. 4B taken along direction C;
FIG. 4E is a schematic diagram of the construction of the moving counterweight of the embodiment of the present application;
FIG. 5 schematically illustrates a structural schematic view of a leveling leg cylinder mechanism of a leveling mechanism according to an embodiment of the present application;
fig. 6 schematically shows a schematic flow diagram of a leveling method for a walking tower crane according to an embodiment of the application; and
fig. 7 schematically shows a block diagram of the perpendicularity detecting apparatus according to an 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 relating to "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 various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Fig. 1 schematically shows a structural schematic diagram of a walking tower crane according to an embodiment of the present application, wherein the leveling method for a walking tower crane according to an embodiment of the present application can be applied. The traveling tower crane may include a track type tower crane and a crawler type tower crane. As shown in fig. 1, in the embodiment of the present application, the tower crane may include a tower body 110 and a top mount, which may be hinged to the tower body 110 and may rotate around the tower body 110 (e.g., a slewing mechanism of the tower body). The upper assembly may include a counterweight arm 120, a lift arm 130, a fixed counterweight 140, and a mobile 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 the undercarriage and the travelling mechanism of the travelling tower crane shown in fig. 1. As shown in fig. 2, the walking tower crane may further include an underframe and a walking mechanism disposed under the underframe. The tower body is arranged on the underframe, and the travelling mechanism can comprise at least a left front crawler group, a right front crawler group, a left rear crawler group and a right rear crawler group. Although only four track sets are shown in fig. 2, one skilled in the art will appreciate that more track sets may be provided as desired, such as 6, 8, etc. Each track set may include one or more tracks, for example, left and right tracks. Only one track set, comprising a left track 211 and a right track 212, is indicated by reference numeral 210.
A leveling mechanism 230 may be disposed between the chassis and the traveling mechanism, and the leveling mechanism 230 may be used to connect the traveling mechanism and the chassis and may provide a supporting force to the chassis. As shown in fig. 2, the leveling mechanism 230 may include a left front leveling leg cylinder mechanism at least disposed between the left front track set and the undercarriage, a right front leveling leg cylinder mechanism disposed between the right front track set and the undercarriage, a left rear leveling leg cylinder mechanism disposed between the left rear track set and the undercarriage, and a right rear leveling leg cylinder mechanism disposed between the right rear track set and the undercarriage. Each leveling support leg oil cylinder mechanism can comprise a leveling support leg oil cylinder, the upper portion of each leveling support leg oil cylinder mechanism is fixed to the bottom frame, and the bottom of the cylinder body of each leveling support leg oil cylinder is fixed to the frame of each track group. The leveling mechanism 230 may further include a hydraulic drive system (not shown) for driving the cylinder piston rod of the leveling leg cylinder to perform telescopic movement. For example, one hydraulic drive system may be provided for each leveling leg cylinder, and multiple hydraulic drive systems may be controlled by one or more controllers.
Fig. 3 schematically shows a structural block diagram of a leveling device for a walking tower crane according to an embodiment of the present application, which can implement the leveling method for a walking tower crane according to an embodiment of the present application. As shown in fig. 3, the leveling device may include:
a leveling mechanism 230;
a tilt sensor 312 configured to detect a tilt of the chassis with respect to a reference horizontal plane; and
the controller 314 is configured to execute the leveling method for the walking tower crane according to the embodiment of the application.
In this embodiment, the tilt sensor 312 may include a first tilt sensor for detecting a first tilt (pitch angle) of the chassis relative to a reference horizontal plane in a traveling direction of the tower crane, and a second tilt sensor for detecting a second tilt (roll angle) of the chassis relative to the reference horizontal plane in a horizontal-vertical direction (i.e., parallel to the reference horizontal plane and perpendicular to the traveling direction, i.e., horizontal direction) of the traveling direction. Alternatively, the tilt sensor 312 may be one or more dual-axis tilt sensors, each of which may be used to detect pitch and roll angles. The reference level may for example be a horizontal plane.
In the embodiment of the present application, the leveling device may further include a verticality detection apparatus 316 for detecting the verticality of the tower body. The perpendicularity detection device 316 may be based on Real-time kinematic (RTK) positioning technology or Ultra Wide Band (UWB) positioning technology.
In one example, the verticality detection device 316 may include a plurality of RTK-based mobile measuring heads (e.g., GPS locators, beidou locators), one or more mobile measuring heads may be disposed at the top of the tower (e.g., top-center position), and one or more mobile measuring heads may be disposed at the bottom of the tower (e.g., undercarriage-center position or lower slewing center position). The communication link of the mobile measurement end can adopt 4G link, 5G link and the like. The RTK reference station may send the correction data to the mobile measurement terminal (e.g., may be forwarded by a forwarding server). The correction data may include satellite positioning data and self position information (position coordinate information) of the RTK reference station. The mobile measuring terminal can determine the position of the mobile measuring terminal according to the satellite positioning information and the correction data of the mobile measuring terminal. The verticality of the tower is then determined based on the position (e.g., position coordinates) determined by the mobile measuring end at the top of the tower and the position (e.g., position coordinates) determined by the mobile measuring end at the bottom of the tower.
Fig. 7 schematically shows a block diagram of the perpendicularity detecting apparatus according to an embodiment of the present application. As shown in fig. 7, in this embodiment, a first mobile measuring terminal may be installed at a top center position (point a) of the tower body, and a second mobile measuring terminal may be installed at a bottom center position (point B) of the tower body. The first mobile measuring end can measure the position coordinates of the point A, which are marked as A (x) 1 ,y 1 ,z 1 ) The second mobile measuring terminal can measure the position coordinates of the point B, and the position coordinates are marked as B (x) 2 ,y 2 ,z 2 ) From this, the following data can be calculated:
(1) Height of the tower crane: h = z 1 -z 2 The automatic calibration of the height after the addition of the standard knot can be realized;
(2) Perpendicularity i:
Figure SMS_1
in a preferred embodiment, since the tower body is a steel frame structure, the problem of inaccurate signals may occur when the second mobile measuring end is placed at the point B, four mobile measuring ends may be installed at four legs at the base of the tower body, position and height data of the four legs are respectively obtained, a horizontal inclination angle of a plane formed by the four points may be calculated by using a height difference of the four points, and the point B is determined according to the horizontal inclination angle and the positions of the four points.
In embodiments of the present application, the resulting tower verticality may be used to calibrate a tilt sensor (e.g., a dual-axis tilt sensor). For example, the chassis may be adjusted so that the tilt sensor is adjusted to a zero position (horizontal position) when the verticality detected by the verticality detecting apparatus is minimum. When the tower crane travels, the measured verticality and the inclination angle detected by the inclination angle sensor can be used for timely calibration and comparison, the verticality of the tower crane is prevented from exceeding the limit, and the traveling safety of the tower crane is ensured.
In the embodiment of the present application, the leveling device may further include a turning angle sensor 318 for detecting a turning angle of the upper device.
In an embodiment of the present application, the leveling device may further include a drive mechanism 320 for driving the moving counterweight to move along the rail, and the controller 314 may be configured to control the drive mechanism 320 to drive the moving counterweight to move along the rail.
Fig. 4A-4E schematically illustrate schematic block diagrams of a drive mechanism according to an embodiment of the present application. As shown in fig. 4A-4E, in particular, in a particular embodiment of the present application, the upper assembly may include a guide wheel 41 disposed on the moving counterweight 404 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 404 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 404.
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 320 may include a winch 406, a first pulley block and a second pulley block, the first pulley block is installed on the boom 401, the second pulley block is installed on the balance arm 402, the winch 406 is connected to one end of the movable balance weight 404 by bypassing the first pulley block through a pull rope, and the winch 406 is connected to the other end of the movable balance weight 404 by bypassing the second pulley block through another pull rope, so as to enable the winch 406 to synchronously release the other pull rope while winding the one pull rope, thereby driving the movable balance weight 404 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 401, 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 406, and the other end thereof is connected with one end of the movable counterweight 404 by sequentially passing through the second pulley 72 and the first pulley 71; the second set of pulleys comprises a third pulley 73 and a fourth pulley 74, the third pulley 73 being mounted on the inner surface of the top of the upper truss structure of the balance arm 402, the fourth pulley 74 being mounted on the pin 53 between the upper truss structure and the corresponding lower truss structure, and another traction rope having one end connected to a winch 406 and the other end connected to the other end of the mobile counterweight 404, in turn passing around the fourth pulley 74 and the third pulley 73.
In the present embodiment, the front and other ends of the moving counterweight 404 are respectively provided with the mounting seats 42 for connecting with the traction ropes.
In the present embodiment, a diagonal brace 54 is provided within the lower truss structure.
In the present embodiment, the hoist 406 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 the speed reducer and is used for driving the winding drum to rotate. The reel may have a pull cord wound thereon, which is connected to the moving counterweight 404 as described above. The brake is used to brake (slow down or stop) the drum. The reciprocating motion of the moving counterweight on the guide rails is achieved by the motor driving the drum in forward or reverse rotation and the speed of movement of the moving counterweight 404 may be controlled by controlling the rotational speed of the motor.
In a preferred embodiment of the present application, the control device may further include: a position detection device 322 for detecting the position of the moving counterweight.
In particular, the location detection device 322 may be implemented using a variety of forms. In an example, the position detection device 322 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, and determine the angular displacement of the drum based on the angular displacement of the motor or reducer, thereby determining the length of the drum to take up or pay out the rope. 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 traveled (e.g., relative to the initial position) may be determined, thereby determining the position of the moving counterweight. In another example, location detection device 322 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 movable balance weight relative to the distance measuring sensor can be detected through the distance measuring sensor, and therefore the position of the movable balance weight can be determined. In one example, an encoder or a distance measuring sensor may also be used to detect the speed at which the moving counterweight is moving.
Fig. 5 schematically shows a structural schematic diagram of a leveling leg cylinder mechanism of a leveling mechanism according to an embodiment of the present application. As shown in fig. 5, the leveling leg cylinder mechanism according to the embodiment of the present application may mainly include a cylinder, a self-locking nut 4 for mechanically locking against an outer end surface of a cylinder cover of the cylinder, and a self-locking driving device 3 provided with a rotational power mechanism, where the self-locking nut 4 is in threaded fit with an external thread section of a piston rod 2 of the cylinder and is located outside the cylinder cover, the self-locking driving device 3 is in transmission connection with the self-locking nut 4, so as to drive the self-locking nut 4 to rotate on the piston rod 2 at a rotation speed and a rotation direction matched with an extending or retracting speed of the piston rod 2 of the cylinder by controlling the self-locking driving device 3 in an extending and retracting process of the piston rod of the cylinder, and maintain a state of being against the outer end surface of the cylinder cover or be capable of moving to a state of being restored to be against the outer end surface of the cylinder cover within a set displacement deviation interval range.
It should be understood that, in the embodiment of the present application, the self-locking driving device 3 may be an electric driving device (such as a motor driving mechanism), a hydraulic driving device or other power type driving device, and the self-locking driving device should fall within the protection scope of the present application as long as the above technical concept of the present application is adopted. As a specific alternative of the present application, the rotation driving mechanism in the self-locking driving device 3 may employ a hydraulic motor 3a, and under various preferred control modes described below in the present application, the present application mainly forms a hydraulic control circuit in various preferred modes through hydraulic cooperative control.
The self-locking nut 4 in threaded fit with the piston rod 2 is originally adopted on a mechanical structure, the self-locking driving device 3 for driving the self-locking nut is arranged, in the normal working process of telescopic adjustment of the piston rod, in order to avoid interference of a transmission connecting structure of the self-locking driving device 3 and telescopic motion of the piston rod 2, the self-locking driving device 3 is controlled to drive the self-locking nut 4 to rotate on the piston rod in the rotating direction and the rotating speed matched with the extending or retracting speed of the piston rod, the self-locking nut 4 is skillfully converted into rotary motion along with following of the piston rod 2, and the self-locking nut 4 is kept in a state of being attached to the outer end face of a cylinder cover through motion conversion and speed control, the state is actually a state of dynamically keeping mechanical self-locking at any moment, and the function of double load supporting is effectively realized, specifically, in the normal bearing adjustment process of the oil cylinder, the oil cylinder carries out bearing support of load through hydraulic pressure of hydraulic oil, the self-locking nut 3 adapts to the telescopic motion of the piston rod of the oil cylinder without interference through the control of the rotating speed and the rotating direction, and always keeps a self-locking position basically attached to the cylinder cover of the oil cylinder, so that when external load is too heavy or hydraulic fluctuation occurs, even if the oil pressure support of a rodless cavity of the hydraulic cylinder is insufficient, the piston rod cannot retract due to the mechanical locking of the self-locking nut 4 on the piston rod 2, the current working condition position after the telescopic adjustment of the piston rod of the oil cylinder keeps stable and unchanged, the originally adjusted position of the piston rod 2 can not be changed due to the retraction of the too heavy load or the oil pressure fluctuation (such as leakage), and meanwhile, due to the mechanical locking of the self-locking nut 3, the oil cylinder is actually based on the hydraulic support of the piston rod, simultaneously, an auxiliary mechanical support is provided, and the dual bearing function greatly improves the reliability, stability and safety of the operation of the oil cylinder. Particularly, under extreme conditions, once the load is too heavy relative to the hydraulic oil pressure, a crushing working condition occurs, the piston rod retracts, and under the condition that the piston rod retracts to the limit position, the self-locking nut 4 is always attached to the cylinder cover, the load of the crushing piston rod 2 is in direct contact with the self-locking nut 4, the cylinder cover and the cylinder body 1 form a rigid support for the upper load, and the rigid support under the extreme conditions can relatively effectively avoid the overturning danger of engineering machinery and avoid serious operation accidents.
Referring to fig. 5, as a specific driving mechanism, the self-locking driving device 3 may include a rotation power mechanism fixed on the outer circumferential surface of the cylinder body 1 or the cylinder cover of the cylinder, a speed reduction mechanism 3b connected to an output shaft of the rotation power mechanism, and a transmission mechanism connected to an output shaft of the speed reduction mechanism 3 b. Specifically, the transmission mechanism may alternatively include a drive gear 3c fixed to the output shaft of the reduction mechanism 3b and a driven engaging ring gear 4a provided on the outer peripheral surface of the self-locking nut 4. Of course, the transmission mechanism can have various forms, such as the transmission fit of the external toothed ring and the toothed belt, the fit of the transmission wheel and the transmission belt, etc., and simple modifications of these transmission mechanisms are all within the technical idea of the present application.
Preferably, referring to fig. 5, a self-locking nut limiting member 8 may be fixed on the cylinder body 1 or the cylinder cover of the cylinder, the self-locking nut limiting member 8 having a limiting portion for abutting against an outer end surface of the self-locking nut 4 opposite to the cylinder cover to limit movement, and the limiting portion abuts against the outer end surface of the self-locking nut 4 or maintains a set interval with the outer end surface of the self-locking nut 4 in a state that the self-locking nut 4 abuts against the outer end surface of the cylinder cover. The function of the self-locking nut limiting part 8 is actually to limit the movement displacement of the self-locking nut 4, in the dynamic rotation speed control of the self-locking nut 4, a certain deviation may occur due to the influence of various factors, so that the rotation speed of the self-locking nut is not completely matched with the extending or retracting speed of the piston rod 2, and at this time, the self-locking nut is allowed to have a certain movement deviation, but through the limiting of the self-locking nut limiting part 8, the deviation of the self-locking nut 4 can be prevented from exceeding the allowable range, and certainly, in order to avoid the situation that the self-locking nut 4 has a large displacement deviation trend and causes excessive pressure on the cylinder cover or the self-locking nut limiting part 8, a pressure sensor (not shown in the figure) can be preferably arranged on the outer end face of the cylinder cover and the limiting part of the self-locking nut limiting part 8, and when the pressure exceeds a threshold value, dynamic correction adjustment is performed, so as to reduce the rotation speed of the self-locking nut 4.
In the embodiment of the present application, a displacement sensor (e.g., a pull sensor) may be disposed at the cylinder for detecting a moving distance (e.g., a telescopic length) and a moving speed (e.g., a telescopic speed) of a piston rod of the cylinder. In a preferred example, a plurality of displacement sensors (e.g., two) may be provided to mutually check the detected values.
In an embodiment of the present application, an angular displacement sensor (e.g., an absolute value encoder) may be provided for detecting the angular displacement and angular velocity of the self-locking nut. Because the self-locking nut is in threaded fit with the external thread section of the piston rod of the oil cylinder, the self-locking nut can move (linearly move) relative to the piston rod of the oil cylinder when rotating, and the relation between the rotating speed of the self-locking nut and the moving speed of the self-locking nut relative to the piston rod of the oil cylinder can be determined, so that the linear moving speed and direction of the self-locking nut can be controlled by controlling the rotating speed and the rotating direction of the self-locking nut.
In the embodiment of the application, a position switch can be arranged at the oil cylinder and used for detecting the position of the self-locking nut.
The following describes a leveling method for a walking tower crane according to an embodiment of the present application with reference to fig. 6. The leveling method may be implemented in any of the embodiments of fig. 1-5. Fig. 6 schematically shows a schematic flow chart of a leveling method for a walking tower crane according to an embodiment of the present application. As shown in fig. 6, in the embodiment of the present application, the leveling method may include the following steps.
In step S610, determining an inclination angle of the chassis with respect to a reference horizontal plane;
in step S620, it is determined whether the inclination angle exceeds a preset angle; and
in step S630, in the case that the inclination angle exceeds the preset angle, the leveling mechanism is controlled to level the base frame according to the inclination angle.
Specifically, in this embodiment, step S610 may include: and determining the inclination angle of the underframe relative to a reference horizontal plane in the travelling process of the walking tower crane.
Specifically, in the embodiment of the application, the inclination angle may include a pitch angle along the traveling direction of the traveling tower crane and a roll angle along the horizontal vertical direction of the traveling direction, and the preset angle may include a preset pitch angle and a preset roll angle;
controlling the leveling mechanism to level the chassis according to the inclination angle includes:
under the condition that the longitudinal inclination angle is larger than the preset longitudinal inclination angle, controlling the leveling mechanism to adjust the longitudinal inclination angle to be smaller than the target
A trim angle, wherein the target trim angle is less than a preset trim angle;
under the condition that the transverse inclination angle is larger than the preset transverse inclination angle, controlling the leveling mechanism to adjust the transverse inclination angle to be smaller than the target
A roll angle, wherein the target roll angle is less than a preset roll angle;
when the pitch angle is larger than the preset pitch angle and the roll angle is larger than the preset roll angle, the larger one of the pitch angle and the roll angle is adjusted to be smaller than the corresponding one of the target pitch angle and the target roll angle, and the other one of the pitch angle and the roll angle is adjusted to be smaller than the other one of the target pitch angle and the target roll angle.
Specifically, in this embodiment, taking the adjustment of the pitch angle as an example, if the tilt sensor detects that the pitch angle exceeds a preset pitch angle, it is determined that the pitch angle needs to be adjusted. The preset longitudinal inclination angle can be set according to the factors of the size, the weight, the model, the operation requirement and the like of the walking tower crane. For example, it may be required that the inclination (e.g. measured by the gradient) of the tower crane underframe does not exceed a%, whereby the preset trim angle may be set to θ (θ = arctan (a%)), and when the detected trim angle exceeds θ, the leveling mechanism may be controlled to adjust the underframe height to decrease the trim angle. It is the most ideal case to adjust the pitch angle to 0 degrees, but in practical applications, PID control is generally adopted for the control of the hydraulic drive system, and if the adjustment target value is set to 0 degrees, it is possible to cause the adjustment of the pitch angle to fluctuate around 0 degrees, which causes the cylinder piston rod to be adjusted repeatedly. Therefore, a target adjustment value larger than 0 and a target longitudinal inclination angle can be set, the target longitudinal inclination angle is smaller than the preset longitudinal inclination angle, when the longitudinal inclination angle is adjusted to be smaller than the target longitudinal inclination angle, the adjustment purpose can be achieved, and the position of the piston rod of the oil cylinder is not adjusted. The discussion is presented herein with respect to the magnitude of the pitch angle, but one skilled in the art will appreciate that if the direction of the pitch angle is also involved (e.g., forward or backward), only a distinction in direction is required and the overall adjustment is similar.
In the embodiment of the present application, the leveling method for the roll angle is the same as the leveling method for the pitch angle, and is not described herein again.
In the embodiment of the present application, if the situation that the pitch angle is greater than the preset pitch angle and the roll angle is greater than the preset roll angle occurs at the same time, the pitch angle and the roll angle may be adjusted respectively at this time. In one example, the larger one of the pitch angle and the roll angle may be adjusted first, and then the smaller one may be adjusted, and the angle adjustment manner is similar to that described above, and will not be described herein again.
Specifically, in the embodiment of the present application, the traveling mechanism may include at least a left front crawler group, a right front crawler group, a left rear crawler group, and a right rear crawler group, the leveling mechanism includes at least a left front leveling leg cylinder mechanism disposed between the left front crawler group and the undercarriage, a right front leveling leg cylinder mechanism disposed between the right front crawler group and the undercarriage, a left rear leveling leg cylinder mechanism disposed between the left rear crawler group and the undercarriage, and a right rear leveling leg cylinder mechanism disposed between the right rear crawler group and the undercarriage, each leveling leg cylinder mechanism includes a leveling leg cylinder, an upper portion of the leveling leg cylinder mechanism is fixed to the undercarriage, and a bottom portion of a cylinder body of the leveling leg cylinder is fixed to a frame of each crawler group, the leveling mechanism further includes a hydraulic drive system for driving a cylinder piston rod of the leveling leg cylinder to perform telescopic movement;
controlling the leveling mechanism to adjust the pitch angle to be less than the target pitch angle may include:
determining a first length of a piston rod of the oil cylinder required to move according to a first distance and a pitch angle, wherein the first distance is a front leveling leg oil cylinder mechanism and a rear leveling leg oil cylinder mechanism in the traveling direction in a left front leveling leg oil cylinder mechanism, a right front leveling leg oil cylinder mechanism, a left rear leveling leg oil cylinder mechanism and a right rear leveling leg oil cylinder mechanism
The distance between the mechanisms;
determining a first target side leveling support leg oil cylinder mechanism and a first target side leveling support leg oil cylinder mechanism from the front side leveling support leg oil cylinder mechanism and the rear side leveling support leg oil cylinder mechanism according to a first length
A direction of movement of the target;
controlling an oil cylinder piston rod of the first target side leveling support leg oil cylinder mechanism to move a first length towards the first target movement direction;
or,
controlling the leveling mechanism to adjust the roll angle to less than the target roll angle comprises:
determining a second length of the piston rod of the oil cylinder required to move according to the transverse inclination angle and a second distance, wherein the second distance is the left leveling leg oil cylinder mechanism and the right leveling leg oil cylinder mechanism in the left front leveling leg oil cylinder mechanism, the right front leveling leg oil cylinder mechanism, the left rear leveling leg oil cylinder mechanism and the right rear leveling leg oil cylinder mechanism relative to the driving direction
Between the mechanisms;
determining a second target side leveling support oil cylinder mechanism and a second target side leveling support oil cylinder mechanism from the left leveling support oil cylinder mechanism and the right leveling support oil cylinder mechanism according to a second length
A target movement direction;
and controlling an oil cylinder piston rod of the second target side leveling support leg oil cylinder mechanism to move a second length towards the second target movement direction.
Also take pitch angle adjustment as an example, in this case, the front-side leveling leg oil cylinder mechanism includes a left front leveling leg oil cylinder mechanism and a right front leveling leg oil cylinder mechanism, and the rear-side leveling leg oil cylinder mechanism includes a left rear leveling leg oil cylinder mechanism and a right rear leveling leg oil cylinder mechanism. When it is determined that the pitch angle is too large (for example, exceeds a preset pitch angle) and needs to be adjusted, the length (i.e., the telescopic length) of the movement of the cylinder piston rod can be determined according to the distance between the front leveling support leg cylinder mechanism and the rear leveling support leg cylinder mechanism (for example, the distance between the connection point of the cylinder piston rod of the front leveling support leg cylinder mechanism and the underframe and the connection point of the cylinder piston rod of the rear leveling support leg cylinder mechanism and the underframe) and the pitch angle.
In the embodiment of the present application, if both the front-side leveling leg cylinder mechanism and the rear-side leveling leg cylinder mechanism can move towards the expected movement direction by a certain first length (the expected movement direction may refer to that, for the purpose of angle adjustment, the cylinder piston rod moves towards the expected movement direction (extends or retracts) to reduce the pitch angle), that is, the cylinder piston rod of one leveling leg cylinder mechanism of the leveling leg cylinder mechanisms on both sides moves upwards (extends) by the first length or the cylinder piston rod of the other leveling leg cylinder mechanism moves downwards (retracts) by the first length, the purpose of pitch angle adjustment can be achieved. On the basis of the basic adjusting idea, a process of selecting a target side leveling support leg oil cylinder mechanism can be provided.
Therefore, in the embodiment of the present application, determining a first target movement direction of a cylinder piston rod of a first target-side leveling leg cylinder mechanism and a first target-side leveling leg cylinder mechanism from a front-side leveling leg cylinder mechanism and a rear-side leveling leg cylinder mechanism according to a first length includes:
determining respective oil of the front side leveling support leg oil cylinder mechanism and the rear side leveling support leg oil cylinder mechanism according to the first length
Whether the cylinder piston rods can move for a first length according to the respective expected movement directions;
if the cylinder piston rod of the leveling leg cylinder mechanism on only one side of the front leveling leg cylinder mechanism and the rear leveling leg cylinder mechanism can move for a first length according to the expected movement direction, determining the leveling leg cylinder mechanism with the cylinder piston rod capable of moving for the first length as a first target side leveling leg cylinder mechanism, and determining the first target side leveling leg cylinder mechanism
The expected movement direction of a target side leveling support leg oil cylinder mechanism is determined as a first target movement direction;
if the cylinder piston rods of the front leveling support leg cylinder mechanism and the rear leveling support leg cylinder mechanism can move for a first length according to respective expected movement directions, determining the leveling support leg cylinder mechanism of which the expected movement direction faces the initial position of the cylinder piston rod of the leveling support leg cylinder mechanism in the front leveling support leg cylinder mechanism and the rear leveling support leg cylinder mechanism as a first target side leveling support leg cylinder mechanism, and determining the first target side leveling support leg cylinder mechanism as a second target side leveling support leg cylinder mechanism
The expected movement direction of a piston rod of the oil cylinder is determined as a first target movement direction;
if the expected movement directions of the cylinder piston rods of the front side leveling support leg cylinder mechanism and the rear side leveling support leg cylinder mechanism face the initial position of the cylinder piston rod, determining the leveling support leg cylinder mechanism of which the cylinder piston rod position deviates from the initial position of the cylinder piston rod in the front side leveling support leg cylinder mechanism and the rear side leveling support leg cylinder mechanism as a first target side leveling support leg cylinder mechanism, and determining the expected movement direction of the cylinder piston rod of the first target side leveling support leg cylinder mechanism as a first target movement direction;
or,
determining a second target movement direction of cylinder piston rods of the second target side leveling leg cylinder mechanism and the second target side leveling leg cylinder mechanism from the left side leveling leg cylinder mechanism and the right side leveling leg cylinder mechanism according to the second length comprises:
determining respective oil of the left leveling support leg oil cylinder mechanism and the right leveling support leg oil cylinder mechanism according to the second length
Whether the cylinder piston rods can move a second length according to the respective expected movement directions;
if the cylinder piston rod of the leveling leg cylinder mechanism on only one side of the left leveling leg cylinder mechanism and the right leveling leg cylinder mechanism can move for a second length according to the expected movement direction, determining the leveling leg cylinder mechanism with the cylinder piston rod capable of moving for the second length as a second target side leveling leg cylinder mechanism, and determining the first target side leveling leg cylinder mechanism
The expected movement direction of the two target side leveling support leg oil cylinder mechanisms is determined as a second target movement direction;
if the cylinder piston rods of the left leveling leg cylinder mechanism and the right leveling leg cylinder mechanism can move for a second length according to respective expected movement directions, determining the leveling leg cylinder mechanism of which the expected movement direction faces the initial position of the cylinder piston rod of the leveling leg cylinder mechanism in the left leveling leg cylinder mechanism and the right leveling leg cylinder mechanism as a second target side leveling leg cylinder mechanism, and determining the second target side leveling leg cylinder machine
The expected movement direction of the piston rod of the oil cylinder is determined as a second target movement direction;
and if the expected movement directions of the cylinder piston rods of the left leveling support leg cylinder mechanism and the right leveling support leg cylinder mechanism face the initial position of the cylinder piston rod, determining the leveling support leg cylinder mechanism of which the position of the cylinder piston rod deviates from the initial position of the cylinder piston rod in the left leveling support leg cylinder mechanism and the right leveling support leg cylinder mechanism as a second target side leveling support leg cylinder mechanism, and determining the expected movement direction of the cylinder piston rod of the second target side leveling support leg cylinder mechanism as a second target movement direction.
Or for example to adjust the pitch angle. In the embodiment of the present application, the position of the cylinder piston rod before the pitch angle adjustment is performed may be detected by a displacement sensor (e.g., a pull wire sensor). Assuming that the cylinder piston rod of the front leveling leg cylinder mechanism is determined to be adjusted, in order to adjust the pitch angle to be within the target pitch angle, a first length of the cylinder piston rod of the front leveling leg cylinder mechanism towards an expected movement direction (for example, upward movement) is required, and at this time, it may be determined that the distance between the cylinder piston rod and the top dead center (i.e., the limit position of upward movement) of the cylinder piston rod from the current position is greater than the first length. If yes, the oil cylinder piston rod can move for a first length according to the expected movement direction, and if not, the adjusting front side leveling support leg oil cylinder mechanism cannot adjust the pitch angle to be within the target pitch angle. At this time, whether the rear leveling leg oil cylinder mechanism can meet the requirements or not can be judged in a steering mode. If the leveling support leg oil cylinder mechanisms on the two sides can not meet the requirements, the walking type tower crane can be controlled to stop walking, and the tower crane is checked.
If the front side leveling leg oil cylinder mechanism and the rear side leveling leg oil cylinder mechanism can both meet the adjustment requirement, the expected movement directions of the oil cylinder piston rods of the front side leveling leg oil cylinder mechanism and the rear side leveling leg oil cylinder mechanism can be compared, and the expected movement directions of the oil cylinder piston rods of the front side leveling leg oil cylinder mechanism and the rear side leveling leg oil cylinder mechanism face the initial position of the oil cylinder piston rod. For example, after the first length is determined, if the adjustment of the front leveling leg cylinder mechanism or the adjustment of the rear leveling leg cylinder mechanism can both satisfy the adjustment requirement, it is possible to compare which of the expected moving directions of the cylinder piston rods of the leveling leg cylinder mechanisms on the two sides is toward the initial position. For example, if the front leveling leg cylinder mechanism has extended its cylinder piston rod upward a distance in a previous adjustment operation, if the adjustment mode may be that the cylinder piston rod of the front leveling leg cylinder mechanism moves downward, or alternatively, the cylinder piston rod of the rear leveling leg cylinder mechanism moves upward, then it is preferable to select the cylinder piston rod of the front leveling leg cylinder mechanism to move downward because the downward movement makes the front leveling leg cylinder mechanism more able to return to the initial position, so as to provide a larger selectable space for the next angle adjustment.
If the expected moving directions of the cylinder piston rods of the front side leveling support leg cylinder mechanism and the rear side leveling support leg cylinder mechanism are both towards the initial position, the leveling support leg cylinder mechanism with the cylinder piston rod position deviating from the initial position can be selected for adjustment. This process allows the leveling leg cylinder mechanisms to be as close to the initial position as possible to provide more space for selection for the next angular adjustment.
In this embodiment, the initial position of the cylinder piston rod may be the bottom dead center of the cylinder piston rod. In a preferred embodiment, the initial position of the cylinder piston rod is the middle position of the top dead center and the bottom dead center of the cylinder piston rod.
In an embodiment of the present application, controlling the leveling mechanism to adjust the pitch angle to be less than the target pitch angle further includes:
acquiring a detected longitudinal inclination angle of the underframe;
under the condition that the detected trim angle is smaller than the target trim angle, controlling an oil cylinder piston rod of the first target side leveling support leg oil cylinder mechanism to stop moving;
or,
controlling the leveling mechanism to adjust the roll angle to less than the target roll angle comprises:
acquiring a detected transverse inclination angle of the underframe;
and under the condition that the detected transverse inclination angle is smaller than the target transverse inclination angle, controlling an oil cylinder piston rod of the second target side leveling support leg oil cylinder mechanism to stop moving.
In the embodiment of the present application in which the self-locking nut is applied, in the process of leveling the base frame, the leveling method may further include:
in the process of controlling the hydraulic driving system to drive the oil cylinder piston rod to move towards the first movement direction at the first movement speed, the self-locking driving device is controlled to drive the self-locking nut to rotate, so that the self-locking nut synchronously moves towards the second movement direction opposite to the first movement direction, and the self-locking nut is kept in a state of being attached to the outer end face of the cylinder cover or can reset and move to a state of being attached to the outer end face of the cylinder cover within a set displacement deviation interval range.
Specifically, the self-locking nut can be tightly attached to the outer end face of the cylinder cover in a general state, the cylinder piston rod can bear large pressure due to the load-bearing underframe and the parts above, the self-locking nut is tightly attached to the outer end face of the cylinder cover to provide an auxiliary mechanical support, and therefore when the cylinder piston rod moves upwards, the self-locking nut and the outer end face of the cylinder cover are expected to be always kept within an expected gap (for example, 5 mm). Therefore, when the oil cylinder piston rod is controlled to move upwards, the self-locking nut can be controlled to rotate so as to generate downward movement synchronous with the upward movement of the oil cylinder piston rod, namely the movement speed of the oil cylinder piston rod is equal to the linear speed of the self-locking nut relative to the oil cylinder piston rod.
Therefore, in the embodiment of the present application, in the process of controlling the hydraulic drive system to drive the cylinder piston rod to move in the first movement direction at the first movement speed, the self-locking drive device is controlled to drive the self-locking nut to rotate, so that the self-locking nut moves in a second movement direction opposite to the first movement direction synchronously, including:
and under the condition that the first movement direction is upward movement, controlling the self-locking driving device to drive the self-locking nut to rotate towards the first rotation direction at a first rotation speed, so that the downward movement speed of the self-locking nut relative to the piston rod of the oil cylinder is kept synchronous with the first movement speed, and the self-locking nut is kept to be attached to the outer end face of the cylinder cover.
Controlling the self-locking driving device to drive the self-locking nut to rotate to a first rotating direction at a first rotating speed, so that the downward movement speed of the self-locking nut relative to the oil cylinder piston rod is kept synchronous with the first movement speed, and the method comprises the following steps:
controlling the first rotating speed to control the clearance between the self-locking nut and the outer end face of the cylinder cover to be below a set threshold (for example, 5 mm); and
and when the clearance exceeds a set threshold value, performing abnormal alarm.
When the piston rod of the oil cylinder moves downwards, the self-locking nut is tightly attached to the outer end face of the cylinder cover under a common state, so that the piston rod of the oil cylinder is limited to move downwards. In this case, the cylinder piston rod may be controlled to move upward a little (e.g. fine movement) first, which is to relieve or reduce the pressure between the self-locking nut and the outer end surface of the cylinder head. The micro motion can be realized by controlling a hydraulic driving system to drive a piston rod of the oil cylinder to slowly extend upwards until the reading of the position of the piston rod of the oil cylinder detected by the displacement sensor is changed. And then controlling the self-locking driving device to drive the self-locking nut to rotate so that the self-locking nut moves upwards to be attached to the limiting part and a space is reserved for the downward movement of the piston rod of the oil cylinder. And then controlling the piston rod of the oil cylinder to move downwards, controlling the self-locking nut to rotate so as to synchronously move reversely with the piston rod of the oil cylinder, and controlling the self-locking nut to rotate reversely so as to move downwards to be close to the outer end face of the cylinder cover when the piston rod of the oil cylinder finishes moving (namely, stops).
Therefore, in the embodiment of the present application, a self-locking nut limiting member is fixed on the cylinder body or the cylinder cover of the oil cylinder, the self-locking nut limiting member has a limiting portion for abutting against an outer end face of the self-locking nut, which faces away from the cylinder cover, so as to limit movement, and the limiting portion maintains a set interval with the outer end face of the self-locking nut in a state that the self-locking nut abuts against the outer end face of the cylinder cover;
in the process of controlling the hydraulic drive system to drive the oil cylinder piston rod to move towards the first movement direction at the first movement speed, the self-locking drive device is controlled to drive the self-locking nut to rotate, so that the self-locking nut synchronously moves towards the second movement direction opposite to the first movement direction, and the method comprises the following steps:
under the condition that the first movement direction is downward movement, controlling the hydraulic drive system to drive the piston rod of the oil cylinder to move upwards (for example, inching);
controlling the self-locking driving device to drive the self-locking nut to rotate so that the self-locking nut moves upwards to be attached to the limiting part;
controlling a hydraulic driving system to drive a piston rod of an oil cylinder to move downwards at a first movement speed;
controlling a self-locking driving device to drive a self-locking nut to rotate so that the self-locking nut synchronously moves upwards, and keeping the self-locking nut close to the limiting part;
and after the piston rod of the oil cylinder stops moving, controlling the self-locking driving device to drive the self-locking nut to rotate so that the self-locking nut moves downwards to be attached to the outer end face of the cylinder cover.
In the embodiment of the application, the maximum linear speed of the self-locking nut relative to the oil cylinder piston rod is greater than the maximum movement speed of the oil cylinder piston rod, so that the self-locking nut can follow (keep up with) the movement of the oil cylinder piston rod.
For a large-scale walking tower crane, the safety risk can be brought to the walking of the tower crane due to the fact that the underframe is slightly inclined. The grain size requirements for the tilt adjustment are therefore very high. For example, chassis inclination exceeding 0.2% (grade) requires leveling, which means that inclination exceeding arctan (0.2%) requires adjustment, which places high demands on the reliability and accuracy of the inclination sensor. Therefore, in the embodiment of the application, the perpendicularity of the tower crane can be measured to assist in determining the inclination angle of the underframe. The detection of the perpendicularity of the tower may use high precision RTK technology, and therefore in an embodiment of the present application, determining the inclination of the undercarriage relative to the reference horizontal plane includes:
acquiring perpendicularity information of the tower body determined by using a real-time dynamic carrier phase difference RTK technology;
acquiring an inclination angle of the chassis detected by using an inclination angle sensor;
the detected inclination of the undercarriage is calibrated using the information on the perpendicularity.
In addition, the measured tower verticality can also be calibrated by using the inclination angle of the underframe detected by the inclination angle sensor.
In an embodiment of the present application, the leveling method may further include:
controlling a cargo boom to rotate to be parallel to the advancing direction of the walking tower crane; and
and adjusting the position of the movable balance weight to adjust the gravity center of the walking tower crane to the center position of the tower body.
In an embodiment of the present application, the leveling method may further include: and if the detected verticality of the tower body exceeds a safety threshold, sending a shutdown inspection warning.
In the actual working process, before the tower crane walks, the upper loader can be controlled to rotate to the direction (towards the advancing direction) parallel to the bottom frame (the center), and then the movable balance weight can be controlled to move so as to adjust the center of the tower crane to the center of the tower body (if the tower crane has a hoisting weight, the center of gravity can be calculated according to the hoisting weight). The height of the cylinder piston rod is adjusted to adjust the verticality of the tower body to the optimal (for example, 0) in both directions (namely, the transverse direction and the longitudinal direction). And (5) marking the inclination angle sensor to be zero, and placing the height of the piston rod of the oil cylinder at the middle position. And then the tower crane can be controlled to walk, and the leveling method of any embodiment can be implemented in the walking process.
In addition, in the walking process, the stroke of an oil cylinder piston rod, the pressure of the oil cylinder piston rod, the verticality of the tower body and the like are monitored in real time, and once the safety threshold value is exceeded, the machine is stopped, checked and alarmed to ensure safety.
In an embodiment of the present application, a controller configured to perform the above leveling method for a walking tower crane is provided.
In this application embodiment, provide a leveling device for walking tower machine, walking tower machine includes the chassis and sets up the running gear below the chassis, and leveling device includes:
the leveling mechanism is arranged between the bottom frame and the travelling mechanism and is used for leveling the bottom frame;
a tilt sensor configured to detect a tilt of the chassis with respect to a reference horizontal plane; and
any of the embodiment controllers described above.
In an embodiment of the present application, a traveling mechanism includes: at least a left front crawler group, a right front crawler group, a left rear crawler group and a right rear crawler group;
the leveling mechanism comprises a left front leveling support leg oil cylinder mechanism at least arranged between a left front crawler belt group and an underframe, a right front leveling support leg oil cylinder mechanism arranged between a right front crawler belt group and the underframe, a left rear leveling support leg oil cylinder mechanism arranged between a left rear crawler belt group and the underframe and a right rear leveling support leg oil cylinder mechanism arranged between the right rear crawler belt group and the underframe, each leveling support leg oil cylinder mechanism comprises a leveling support leg oil cylinder, the upper part of each leveling support leg oil cylinder mechanism is fixed on the underframe, the bottom parts of cylinder bodies of the leveling support leg oil cylinders are fixed on the vehicle frames of the respective crawler belt groups, and the leveling mechanism further comprises a hydraulic driving system for driving oil cylinder piston rods of the leveling support leg oil cylinders to perform telescopic motion.
In an embodiment of the present application, a walking tower crane is provided, including:
a chassis;
the travelling mechanism is arranged below the underframe; and
the above arbitrary levelling device for walking tower crane.
The traveling tower crane may include a track type tower crane, a crawler type tower crane, and the like.
In the embodiment of the application, the walking mechanism comprises at least a left front crawler belt group, a right front crawler belt group, a left rear crawler belt group and a right rear crawler belt group;
walking tower machine still including installing the body of the tower on the chassis and with body of the tower articulated facial make-up, the facial make-up includes balance arm, jib loading boom, fixed balanced heavy and remove balanced heavy, fixed balanced heavy is fixed in balance arm side, the facial make-up is provided with the guide rail that extends to the jib loading boom side from balance arm side, removes balanced heavy can follow the guide rail and removes.
In an embodiment of the present application, a machine-readable storage medium is provided, where instructions are stored on the machine-readable storage medium, and when executed by a processor, the instructions cause the processor to implement the leveling method for a walking tower crane according to any of the above embodiments.
The scheme provided by the embodiment of the application can dynamically adjust the gradient of the tower crane underframe in real time in the walking process of the large-scale walking type tower crane, the center of the tower crane is always kept at the central position, and the walking safety of the tower crane is improved.
It is to 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. 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 (19)

1. The leveling method for the walking tower crane is characterized in that the walking tower crane comprises an underframe and a walking mechanism arranged below the underframe, a leveling mechanism is arranged between the underframe and the walking mechanism, the leveling mechanism is used for leveling the underframe, and the leveling method comprises the following steps:
determining a tilt angle of the chassis relative to a reference horizontal plane;
determining whether the inclination angle exceeds a preset angle; and
and under the condition that the inclination angle exceeds the preset angle, controlling the leveling mechanism to level the underframe according to the inclination angle.
2. The leveling method according to claim 1, wherein the inclination angle comprises a pitch angle in a traveling direction of the traveling tower crane and a roll angle in a horizontal vertical direction of the traveling direction, and the preset angle comprises a preset pitch angle and a preset roll angle;
the controlling the leveling mechanism to level the underframe according to the inclination angle comprises:
under the condition that the trim angle is larger than the preset trim angle, controlling the leveling mechanism to adjust the trim angle to be smaller than a target trim angle, wherein the target trim angle is smaller than the preset trim angle;
under the condition that the transverse inclination angle is larger than the preset transverse inclination angle, controlling the leveling mechanism to adjust the transverse inclination angle to be smaller than a target transverse inclination angle, wherein the target transverse inclination angle is smaller than the preset transverse inclination angle;
under the condition that the trim angle is larger than the preset trim angle and the roll angle is larger than the preset roll angle, the larger one of the trim angle and the roll angle is adjusted to be smaller than the corresponding one of the target trim angle and the target roll angle, and then the other one of the trim angle and the roll angle is adjusted to be smaller than the other one of the target trim angle and the target roll angle.
3. The leveling method according to claim 2, wherein the traveling mechanism includes at least a left front crawler group, a right front crawler group, a left rear crawler group, and a right rear crawler group, the leveling mechanism includes at least a left front leveling leg cylinder mechanism disposed between the left front crawler group and the undercarriage, a right front leveling leg cylinder mechanism disposed between the right front crawler group and the undercarriage, a left rear leveling leg cylinder mechanism disposed between the left rear crawler group and the undercarriage, and a right rear leveling leg cylinder mechanism disposed between the right rear crawler group and the undercarriage, each leveling leg cylinder mechanism includes a leveling leg cylinder, an upper portion of the leveling leg cylinder mechanism is fixed to the undercarriage, and a bottom portion of a cylinder body of the leveling leg cylinder is fixed to a frame of the respective crawler group, the leveling mechanism further includes a hydraulic drive system for driving a cylinder piston rod of the leveling leg cylinder to perform a telescopic motion;
the controlling the leveling mechanism to adjust the pitch angle to less than a target pitch angle comprises:
determining a first length of a piston rod of an oil cylinder required to move according to the longitudinal inclination angle and a first distance, wherein the first distance is a distance between a front leveling leg oil cylinder mechanism and a rear leveling leg oil cylinder mechanism in the advancing direction in the left front leveling leg oil cylinder mechanism, the right front leveling leg oil cylinder mechanism, the left rear leveling leg oil cylinder mechanism and the right rear leveling leg oil cylinder mechanism;
determining a first target movement direction of a first target side leveling leg oil cylinder mechanism and an oil cylinder piston rod of the first target side leveling leg oil cylinder mechanism from the front side leveling leg oil cylinder mechanism and the rear side leveling leg oil cylinder mechanism according to the first length;
controlling an oil cylinder piston rod of the first target side leveling support leg oil cylinder mechanism to move towards the first target movement direction by the first length;
or,
the controlling the leveling mechanism to adjust the roll angle to less than a target roll angle comprises:
determining a second length of the oil cylinder piston rod required to move according to the transverse inclination angle and a second distance, wherein the second distance is between a left leveling leg oil cylinder mechanism and a right leveling leg oil cylinder mechanism in the left front leveling leg oil cylinder mechanism, the right front leveling leg oil cylinder mechanism, the left rear leveling leg oil cylinder mechanism and the right rear leveling leg oil cylinder mechanism relative to the driving direction;
determining a second target movement direction of cylinder piston rods of a second target side leveling leg cylinder mechanism and a second target side leveling leg cylinder mechanism from the left side leveling leg cylinder mechanism and the right side leveling leg cylinder mechanism according to the second length;
and controlling an oil cylinder piston rod of the second target side leveling support leg oil cylinder mechanism to move towards the second target movement direction by the second length.
4. Leveling method according to claim 3,
determining a first target movement direction of a cylinder piston rod of a first target side leveling leg cylinder mechanism and a first target side leveling leg cylinder mechanism from the front side leveling leg cylinder mechanism and the rear side leveling leg cylinder mechanism according to the first length, comprising:
determining whether the respective cylinder piston rods of the front leveling leg cylinder mechanism and the rear leveling leg cylinder mechanism can move by the first length according to the respective expected movement directions or not according to the first length;
if the cylinder piston rod of the leveling leg cylinder mechanism on only one side of the front side leveling leg cylinder mechanism and the rear side leveling leg cylinder mechanism can move for the first length according to the expected movement direction, determining the leveling leg cylinder mechanism with the cylinder piston rod capable of moving for the first length as the first target side leveling leg cylinder mechanism, and determining the expected movement direction of the first target side leveling leg cylinder mechanism as the first target movement direction;
if the cylinder piston rods of the front side leveling leg cylinder mechanism and the rear side leveling leg cylinder mechanism can move for the first length according to respective expected movement directions, determining the leveling leg cylinder mechanism of which the expected movement direction faces the initial position of the cylinder piston rod of the leveling leg cylinder mechanism in the front side leveling leg cylinder mechanism and the rear side leveling leg cylinder mechanism as the first target side leveling leg cylinder mechanism, and determining the expected movement direction of the cylinder piston rod of the first target side leveling leg cylinder mechanism as the first target movement direction;
if the expected movement directions of the cylinder piston rods of the front side leveling support leg cylinder mechanism and the rear side leveling support leg cylinder mechanism face the initial position of the cylinder piston rod, determining the leveling support leg cylinder mechanism of which the position of the cylinder piston rod is more deviated from the initial position of the cylinder piston rod in the front side leveling support leg cylinder mechanism and the rear side leveling support leg cylinder mechanism as the first target side leveling support leg cylinder mechanism, and determining the expected movement direction of the cylinder piston rod of the first target side leveling support leg cylinder mechanism as the first target movement direction;
or,
determining a second target movement direction of cylinder piston rods of a second target side leveling leg cylinder mechanism and a second target side leveling leg cylinder mechanism from the left side leveling leg cylinder mechanism and the right side leveling leg cylinder mechanism according to the second length comprises:
determining whether the cylinder piston rods of the left leveling leg cylinder mechanism and the right leveling leg cylinder mechanism can move for the second length according to the expected movement directions of the cylinder piston rods;
if the cylinder piston rod of only one leveling leg cylinder mechanism of the left leveling leg cylinder mechanism and the right leveling leg cylinder mechanism can move for the second length according to the expected movement direction, determining the leveling leg cylinder mechanism of which the cylinder piston rod can move for the second length as the second target side leveling leg cylinder mechanism, and determining the expected movement direction of the second target side leveling leg cylinder mechanism as the second target movement direction;
if the cylinder piston rods of the left leveling leg cylinder mechanism and the right leveling leg cylinder mechanism can move for the second length according to respective expected movement directions, determining the leveling leg cylinder mechanism of which the expected movement direction faces the initial position of the cylinder piston rod of the leveling leg cylinder mechanism in the left leveling leg cylinder mechanism and the right leveling leg cylinder mechanism as a second target side leveling leg cylinder mechanism, and determining the expected movement direction of the cylinder piston rod of the second target side leveling leg cylinder mechanism as a second target movement direction;
and if the expected movement directions of the cylinder piston rods of the left leveling support leg cylinder mechanism and the right leveling support leg cylinder mechanism are towards the initial position of the cylinder piston rod, determining the leveling support leg cylinder mechanism of which the position of the cylinder piston rod deviates from the initial position of the cylinder piston rod in the left leveling support leg cylinder mechanism and the right leveling support leg cylinder mechanism into the second target side leveling support leg cylinder mechanism and determining the expected movement direction of the cylinder piston rod of the second target side leveling support leg cylinder mechanism into the second target movement direction.
5. The leveling method according to claim 4, wherein the initial position of the cylinder piston rod is a middle position between a top dead center and a bottom dead center of the cylinder piston rod.
6. Leveling method according to claim 3,
the controlling the leveling mechanism to adjust the pitch angle to less than a target pitch angle further comprises:
acquiring a detected pitch angle of the underframe;
under the condition that the detected trim angle is smaller than the target trim angle, controlling an oil cylinder piston rod of the first target side leveling support leg oil cylinder mechanism to stop moving;
or,
the controlling the leveling mechanism to adjust the roll angle to less than a target roll angle comprises:
acquiring a detected transverse inclination angle of the underframe;
and under the condition that the detected transverse inclination angle is smaller than the target transverse inclination angle, controlling an oil cylinder piston rod of the second target side leveling support leg oil cylinder mechanism to stop moving.
7. A method of leveling as in claim 3 wherein each leveling leg cylinder mechanism comprises:
an oil cylinder;
the self-locking nut is used for being attached to the outer end face of the cylinder cover of the oil cylinder to be mechanically locked; and
a self-locking driving device provided with a rotary power mechanism;
the self-locking nut is in threaded fit with the external thread section of the piston rod of the oil cylinder and is positioned outside the cylinder cover of the oil cylinder, and the self-locking driving device is in transmission connection with the self-locking nut and is used for driving the self-locking nut to rotate around the piston rod of the oil cylinder;
the leveling method further comprises:
in the process of controlling the hydraulic driving system to drive the oil cylinder piston rod to move towards a first movement direction at a first movement speed, the self-locking driving device is controlled to drive the self-locking nut to rotate, so that the self-locking nut synchronously moves towards a second movement direction opposite to the first movement direction, and the self-locking nut is kept in a state of being attached to the outer end face of the cylinder cover or can reset and move to a state of being attached to the outer end face of the cylinder cover within a set displacement deviation interval range.
8. The leveling method according to claim 7, wherein the controlling the self-locking driving device to drive the self-locking nut to rotate during the controlling of the hydraulic driving system to drive the cylinder piston rod to move towards a first movement direction at a first movement speed, so that the self-locking nut moves towards a second movement direction opposite to the first movement direction synchronously comprises:
and under the condition that the first movement direction is upward movement, controlling the self-locking driving device to drive the self-locking nut to rotate towards the first rotation direction at a first rotation speed, so that the downward movement speed of the self-locking nut relative to the oil cylinder piston rod is kept synchronous with the first movement speed, and the self-locking nut is kept to be attached to the outer end face of the cylinder cover.
9. The leveling method according to claim 8, wherein the controlling the self-locking driving device to drive the self-locking nut to rotate at a first rotation speed in a first rotation direction, so that the downward movement speed of the self-locking nut relative to the cylinder piston rod is synchronous with the first movement speed, comprises:
controlling the first rotating speed so as to control the clearance between the self-locking nut and the outer end face of the cylinder cover to be below a set threshold value; and
and if the clearance exceeds the set threshold value, performing abnormal alarm.
10. The leveling method according to claim 7, wherein a self-locking nut limiting piece is fixed on a cylinder body or a cylinder cover of the oil cylinder, the self-locking nut limiting piece is provided with a limiting portion which is used for being attached to an outer end face, opposite to the cylinder cover, of the self-locking nut to limit movement, and the limiting portion is kept at a set interval from the outer end face of the self-locking nut in a state that the self-locking nut is attached to the outer end face of the cylinder cover;
the process of controlling the hydraulic drive system to drive the oil cylinder piston rod to move towards a first movement direction at a first movement speed, and controlling the self-locking drive device to drive the self-locking nut to rotate so that the self-locking nut moves towards a second movement direction opposite to the first movement direction synchronously comprises the following steps:
under the condition that the first movement direction is downward movement, controlling the hydraulic drive system to drive the piston rod of the oil cylinder to move upwards;
controlling the self-locking driving device to drive the self-locking nut to rotate so that the self-locking nut moves upwards to be attached to the limiting part;
controlling the hydraulic driving system to drive a piston rod of an oil cylinder to move downwards at a first movement speed;
controlling the self-locking driving device to drive the self-locking nut to rotate so that the self-locking nut synchronously moves upwards, and therefore the self-locking nut keeps attached to the limiting part;
and after the piston rod of the oil cylinder stops moving, controlling the self-locking driving device to drive the self-locking nut to rotate so that the self-locking nut moves downwards to be attached to the outer end face of the cylinder cover.
11. The leveling method according to any one of claims 7 to 10, wherein the maximum linear velocity of the self-locking nut relative to the cylinder piston rod is greater than the maximum movement velocity of the cylinder piston rod.
12. The leveling method of claim 1, wherein the walking tower crane further comprises a tower mounted on the undercarriage, and wherein determining the inclination of the undercarriage relative to a reference horizontal plane comprises:
acquiring the verticality information of the tower body determined by using a real-time dynamic carrier phase difference RTK technology;
acquiring an inclination angle of the underframe detected by using an inclination angle sensor;
and calibrating the detected inclination angle of the underframe by using the verticality information.
13. The leveling method according to claim 1, wherein the traveling tower crane further comprises a tower body mounted on the underframe and a top mount hinged to the tower body, the top mount comprising a balance arm, a boom, a fixed counterweight fixed to the balance arm side and a movable counterweight provided with a guide rail extending from the balance arm side to the boom side, the movable counterweight being movable along the guide rail;
the leveling method further comprises:
controlling the cargo boom to rotate to be parallel to the traveling direction of the walking tower crane; and
and adjusting the position of the movable balance weight to adjust the gravity center of the walking type tower crane to the central position of the tower body.
14. A controller, characterized by being configured to perform the leveling method for a walking tower crane according to any one of claims 1-13.
15. The utility model provides a levelling device for walking tower machine, its characterized in that, walking tower machine includes the chassis and sets up running gear below the chassis, levelling device includes:
the leveling mechanism is arranged between the bottom frame and the travelling mechanism and is used for leveling the bottom frame;
a tilt sensor configured to detect a tilt of the chassis with respect to a reference horizontal plane; and
the controller of claim 14.
16. The leveling device of claim 15, wherein the travel mechanism comprises: at least a left front crawler group, a right front crawler group, a left rear crawler group and a right rear crawler group;
leveling mechanism is including setting up at least the left side front track group with left side front leveling landing leg cylinder mechanism between the chassis sets up right front track group with right front leveling landing leg cylinder mechanism between the chassis sets up left side back track group with left back leveling landing leg cylinder mechanism between the chassis and set up right back track group with right back leveling landing leg cylinder mechanism between the chassis, every leveling landing leg cylinder mechanism includes leveling landing leg cylinder, the upper portion of leveling landing leg cylinder mechanism is fixed in the chassis, just the bottom of the cylinder body of leveling landing leg cylinder is fixed in the frame of individual track group, leveling mechanism still carries out concertina movement's hydraulic drive system including the cylinder piston rod that is used for driving leveling landing leg cylinder.
17. A walking tower crane is characterized by comprising:
a chassis;
the travelling mechanism is arranged below the underframe; and
leveling device for a walking tower crane according to claim 15 or 16.
18. The walking tower crane of claim 17, wherein the walking mechanism comprises at least a left front track group, a right front track group, a left rear track group and a right rear track group;
walking tower machine is still including installing tower on the chassis and with tower articulated facial make-up, the facial make-up includes balance arm, jib loading boom, fixed balanced heavy and removal balanced heavy, fixed balanced heavy is fixed balance arm side, the facial make-up is provided with the follow balance arm side extends to the guide rail of jib loading boom side, removal balanced heavy can be followed the guide rail removes.
19. A machine-readable storage medium, characterized in that it has stored thereon instructions which, when executed by a processor, cause the processor to carry out a leveling method for adjusting a walking tower crane according to any one of claims 1 to 13.
CN202211125193.4A 2022-09-15 2022-09-15 Walking type tower crane and leveling method, leveling device and controller thereof Pending CN115959582A (en)

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CN202211125193.4A CN115959582A (en) 2022-09-15 2022-09-15 Walking type tower crane and leveling method, leveling device and controller thereof

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Application Number Priority Date Filing Date Title
CN202211125193.4A CN115959582A (en) 2022-09-15 2022-09-15 Walking type tower crane and leveling method, leveling device and controller thereof

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117049409A (en) * 2023-08-19 2023-11-14 中邮通建设咨询有限公司 Tower crane straightness monitoring devices that hangs down

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117049409A (en) * 2023-08-19 2023-11-14 中邮通建设咨询有限公司 Tower crane straightness monitoring devices that hangs down
CN117049409B (en) * 2023-08-19 2024-01-23 中邮通建设咨询有限公司 Tower crane straightness monitoring devices that hangs down

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