CN116534745A - Control method, device, controller and storage medium for tower crane - Google Patents

Control method, device, controller and storage medium for tower crane Download PDF

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Publication number
CN116534745A
CN116534745A CN202310315761.5A CN202310315761A CN116534745A CN 116534745 A CN116534745 A CN 116534745A CN 202310315761 A CN202310315761 A CN 202310315761A CN 116534745 A CN116534745 A CN 116534745A
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CN
China
Prior art keywords
lifting
tower crane
brake
lifting mechanism
control method
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310315761.5A
Other languages
Chinese (zh)
Inventor
李凌
邓潇
胡宇智
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoomlion Heavy Industry Science and Technology Co Ltd
Zoomlion Construction Crane Co Ltd
Original Assignee
Zoomlion Heavy Industry Science and Technology Co Ltd
Zoomlion Construction Crane Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zoomlion Heavy Industry Science and Technology Co Ltd, Zoomlion Construction Crane Co Ltd filed Critical Zoomlion Heavy Industry Science and Technology Co Ltd
Priority to CN202310315761.5A priority Critical patent/CN116534745A/en
Publication of CN116534745A publication Critical patent/CN116534745A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/26—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail

Abstract

The embodiment of the application provides a control method, a control device, a controller and a storage medium for a tower crane. The tower crane comprises a lifting mechanism, a first brake and a sensor, wherein the first brake is connected with the lifting mechanism, and the sensor is used for monitoring the working state of the first brake. The control method comprises the following steps: under the condition that the sensor monitors that the working state of the first brake is a failure state, receiving a wear signal transmitted by the sensor based on the failure state; determining a lifting gear of the lifting mechanism when the lifting mechanism lifts loads according to the abrasion signals; under the condition that the lifting gear is a neutral gear, determining the rotating speed of a lifting motor of the lifting mechanism; and under the condition that the rotating speed is less than or equal to the preset rotating speed, controlling the lifting motor to output upward torque so as to control the load to hover. The lifting gear of the tower crane can be reset, the risk of insufficient braking force of the brake is avoided, the tower crane is always in a safe state after the brake is found to be worn, the occurrence of a hook slipping accident is avoided, and the lifting safety of the tower crane is improved.

Description

Control method, device, controller and storage medium for tower crane
Technical Field
The application relates to the technical field of building machinery, in particular to a control method for a tower crane, the tower crane, a controller and a storage medium.
Background
In the building construction process, when the braking force of a brake of the tower crane is insufficient, the condition that the braking force is not matched with the lifting weight is easy to occur, so that a hook slipping accident is caused, and great threat is caused to safety. In the prior art, the detection of brake wear is still mainly manual inspection, which can not meet the requirements of modern safety construction at all. In addition, after the brake wear is detected, the safety is also required to be ensured in the process of lowering the weight to the safety position.
Disclosure of Invention
The embodiment of the application aims to provide a control method for a tower crane, the tower crane, a controller and a storage medium.
In order to achieve the above object, a first aspect of the present application provides a control method for a tower crane, the tower crane including a hoisting mechanism, a first brake and a sensor, the first brake being connected with the hoisting mechanism, the sensor being used for monitoring an operating state of the first brake, the control method comprising:
under the condition that the sensor monitors that the working state of the first brake is a failure state, receiving a wear signal transmitted by the sensor based on the failure state;
determining a lifting gear of the lifting mechanism when the lifting mechanism lifts loads according to the abrasion signals;
under the condition that the lifting gear is a neutral gear, determining the rotating speed of a lifting motor of the lifting mechanism;
and under the condition that the rotating speed is less than or equal to the preset rotating speed, controlling the lifting motor to output upward torque so as to control the load to hover.
In an embodiment of the present application, the tower crane further comprises a slewing mechanism and an amplitude variation mechanism, and the control method further comprises: under the condition that the lifting gear is not the neutral gear, the lifting mechanism, the slewing mechanism and the luffing mechanism are controlled to operate at a preset speed until the distance between the load and the preset placement position is smaller than the preset distance.
In an embodiment of the present application, the tower crane further includes a second brake connected to the lifting mechanism, and the control method further includes: and under the condition that the rotating speed is less than or equal to the preset rotating speed, controlling the second brake to operate so as to control the lifting mechanism to stop through the second brake, and controlling the load to hover.
In an embodiment of the present application, determining a lifting gear of a lifting mechanism when lifting a load according to a wear signal includes: under the condition that the lifting mechanism is loaded, the tower crane is controlled to start, and the lifting gear is determined; under the condition that the lifting mechanism is not loaded, the tower crane is forbidden to start.
In an embodiment of the present application, the tower crane further comprises an alarm device and/or a display device, and the control method further comprises: after receiving the wear signal, the alarm device and/or the display device are/is controlled to emit a warning signal.
A second aspect of the present application provides a controller configured to perform the control method for a tower crane described above.
A third aspect of the present application provides a tower crane, comprising:
the lifting mechanism is used for lifting loads;
the first brake is connected with the lifting mechanism and used for controlling the lifting mechanism to stop;
the sensor is electrically connected with the first brake and is used for monitoring the working state of the first brake;
and the controller is configured to execute the control method for the tower crane.
In an embodiment of the present application, the tower crane further comprises: the rotating mechanism is connected with the lifting mechanism and used for adjusting the direction of the lifting mechanism; the amplitude changing mechanism is connected with the lifting mechanism and used for adjusting the amplitude of the lifting mechanism.
In an embodiment of the present application, the tower crane further comprises: the second brake is connected with the lifting mechanism and used for controlling the lifting mechanism to stop; and the alarm device and/or the display device are used for sending out alarm signals.
A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions that, when executed by a controller, cause the controller to be configured to perform the control method for a tower crane described above.
Through the control method for the tower crane, the controller and the storage medium, the tower crane comprises the lifting mechanism, the first brake and the sensor, the first brake is connected with the lifting mechanism, and the sensor is used for monitoring the working state of the first brake. Receiving a wear signal transmitted by the sensor based on the failure state under the condition that the sensor monitors that the working state of the first brake is the failure state; determining a lifting gear of the lifting mechanism when the lifting mechanism lifts loads according to the abrasion signals; under the condition that the lifting gear is a neutral gear, determining the rotating speed of a lifting motor of the lifting mechanism; and under the condition that the rotating speed is less than or equal to the preset rotating speed, controlling the lifting motor to output upward torque so as to control the load to hover. The method has the advantages that when the lifting gear of the tower crane returns to zero, the risk of insufficient braking force of the brake is avoided, so that the tower crane is always in a safe state after the brake is found to be worn, the occurrence of hook slipping accidents is avoided, and the lifting safety of the tower crane is improved.
Additional features and advantages of embodiments of the present application will be set forth in the detailed description that follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. In the drawings:
FIG. 1 schematically illustrates a flow diagram of a control method for a tower crane according to an embodiment of the present application;
FIG. 2 schematically illustrates a flow diagram of a control method for a tower crane according to yet another embodiment of the present application;
FIG. 3 schematically illustrates a schematic view of a tower crane according to an embodiment of the present application;
fig. 4 schematically shows a block diagram of a control device for a tower crane according to an embodiment of the present application;
fig. 5 schematically shows an internal structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific implementations described herein are only for illustrating and explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
Fig. 1 schematically shows a flow diagram of a control method for a tower crane according to an embodiment of the present application. As shown in fig. 1, in an embodiment of the present application, a control method for a tower crane is provided, the tower crane includes a hoisting mechanism, a first brake and a sensor, the first brake is connected with the hoisting mechanism, and the sensor is used for monitoring an operating state of the first brake. The control method comprises the following steps:
s202, when the sensor monitors that the working state of the first brake is a failure state, a wear signal transmitted by the sensor based on the failure state is received.
S204, determining the lifting gear of the lifting mechanism during the load lifting according to the abrasion signal.
S206, determining the rotating speed of a lifting motor of the lifting mechanism under the condition that the lifting gear is a neutral gear.
And S208, controlling the lifting motor to output upward torque under the condition that the rotating speed is less than or equal to the preset rotating speed so as to control the load to hover.
A brake is a device having a function of decelerating, stopping, or maintaining a stopped state of a moving member (or a moving machine). It may be a mechanical part for stopping or decelerating the moving parts in the machine, commonly known as a brake or brake. In the building construction process, when the brake of the tower crane fails due to insufficient braking force and the like, the situation that the braking force is not matched with the lifting weight easily occurs, so that a hook slipping accident is caused. In one embodiment of the present application, the operating state of the first brake of the tower crane can then be monitored in real time by means of the sensor. The sensor is specifically a brake wear sensor, and can monitor the wear degree of the brake. When the degree of wear of the brake exceeds a preset threshold, a brake failure may be determined. The first brake is connected with the lifting mechanism, and the working state of the first brake can be a failure state or an effective state. The first brake is in an active state, which means that the lifting mechanism can be effectively stopped or decelerated under the condition that the first brake operates. The first brake is in a failure state, which means that the abrasion degree of the first brake reaches a critical value, and the first brake can not enable the lifting mechanism to slow down or stop. The sensor may then transmit a wear signal to the controller based on the failure condition. When the controller receives this wear signal, it is determined that the first brake has failed at this time.
Further, the controller can determine the lifting gear of the lifting mechanism when the lifting mechanism lifts the load according to the abrasion signal. The lifting gear refers to any one of an ascending gear, a descending gear and a neutral gear of the lifting mechanism. When the lifting mechanism is in the ascending gear, the lifting load of the tower crane moves away from the ground, when the lifting mechanism is in the descending gear, the lifting load of the tower crane moves close to the ground, and when the lifting mechanism is in the neutral gear, the motor of the lifting mechanism stops running, and the lifting mechanism loses power and can directly fall down. Then, the controller needs to determine the rotational speed of the lifting motor of the lifting mechanism in the case that the lifting gear is neutral. And under the condition that the rotating speed is less than or equal to the preset rotating speed, the controller controls the lifting motor to output upward torque so as to control the load to hover. In particular, the preset rotational speed may be zero or a rotational speed tending towards zero. When the rotating speed of the lifting motor is smaller than or equal to zero or tends to zero, the controller can control the lifting motor to output upward torque, so that the lifting mechanism obtains upward power, and the load can be hovered in the air without depending on a brake, thereby avoiding the occurrence of safety accidents such as hook walking and the like.
In one embodiment, the tower crane further comprises a swing mechanism and an amplitude variation mechanism, and the control method further comprises: under the condition that the lifting gear is not the neutral gear, the lifting mechanism, the slewing mechanism and the luffing mechanism are controlled to operate at a preset speed until the distance between the load and the preset placement position is smaller than the preset distance.
The turning mechanism is a mechanism for enabling a turning part of a tower crane or other machines to rotate around a turning center line thereof to realize turning motion. The luffing mechanism is a main working mechanism of the tower crane and is used for changing the amplitude of a lifting mechanism of the tower crane, namely changing the horizontal distance from the center of a lifting hook (or a grab bucket) to the rotation central axis of the crane so as to adapt to loading and unloading loads of the tower crane under different conditions. When the first brake is in a failure state, if the lifting gear is not neutral gear, namely the lifting gear or the descending gear, the controller can control the lifting mechanism, the slewing mechanism and the luffing mechanism to operate according to a preset speed. The preset speed refers to an operation speed set in advance by a technician. The lifting mechanism, the rotation mechanism and the amplitude changing mechanism can be controlled by corresponding lifting frequency converters, rotation frequency converters and amplitude changing frequency converters. By controlling the lifting mechanism, the slewing mechanism and the luffing mechanism to operate at a preset speed, the load can be slowly lowered until the distance between the load and a preset placement position is smaller than a preset distance, so that the safety risk is reduced. The preset placement position can be the ground or other positions capable of stably storing the load. The preset distance may be a distance corresponding to a preset placement position, for example, may be 0.2m, 0.1m, or may be 0m.
In one embodiment, the tower crane further comprises a second brake connected to the hoisting mechanism, and the control method further comprises: and under the condition that the rotating speed is less than or equal to the preset rotating speed, controlling the second brake to operate so as to control the lifting mechanism to stop through the second brake, and controlling the load to hover.
The second brake means an additional second brake in case the hoisting mechanism already has the first brake. It will be appreciated that the first brake is relatively speaking to the second brake. When the first brake is in a failure state, the controller receives a wear signal to monitor a lifting gear of the lifting mechanism. If the lifting gear is a neutral gear, the controller monitors the rotating speed of the lifting motor. At this time, the controller may perform the following three operations:
1. if the rotating speed of the lifting motor is less than or equal to zero or tends to be zero, the controller can control the second brake band-type brake. Then, the hoisting mechanism can be controlled to stop by the second controller, so that the load hovering is controlled.
2. If the rotating speed of the lifting motor is less than or equal to zero or tends to zero, the controller can control the lifting motor to output upward torque, so that the lifting mechanism obtains upward power, and the load hovering is controlled.
3. If the rotating speed of the lifting motor is less than or equal to zero or tends to be zero, the controller can control the lifting motor to output upward torque, so that the lifting mechanism obtains upward power. And the controller can also control the second brake band-type brake. Through double protection, the load hovering is controlled, and safety accidents such as hook walking and the like are more effectively avoided.
In one embodiment, determining a lifting gear of the lifting mechanism when lifting the load according to the wear signal comprises: under the condition that the lifting mechanism is loaded, the tower crane is controlled to start, and the lifting gear is determined; under the condition that the lifting mechanism is not loaded, the tower crane is forbidden to start.
In the event of failure of the first brake, the controller may determine whether a load is present on the hoisting mechanism and whether electrical control of the tower crane is enabled. If the lifting mechanism has a load, the controller can control the tower crane to start. After the tower crane is started, the controller can determine the lifting gear of the lifting mechanism. If the lifting mechanism is not loaded, the tower crane is forbidden to start so as to avoid accidents caused by unsafe operation.
In one embodiment, the tower crane further comprises an alarm device and/or a display device, the control method further comprising: after receiving the wear signal, the alarm device and/or the display device are/is controlled to emit a warning signal. The alarm device can be an audible and visual alarm, and the display device can display reminding information on the display screen. The alarm device and the display device can also be other devices or means which can play a role in reminding.
As shown in fig. 2, fig. 2 schematically shows a flow chart of a control method for a tower crane according to a further embodiment of the present application. Referring to fig. 2, in one embodiment, the sensor may monitor the working state of the first brake of the tower crane in real time to determine whether the first brake fails. If the first brake is detected to be worn out and in a failure state, the sensor may send a wear signal to the controller. The wear signal controller can control the alarm device and/or the display device to send out a warning signal. Meanwhile, the controller can control to determine whether the lifting mechanism has load or not and whether the electric control of the tower crane is started or not. If the lifting mechanism is not loaded, the tower crane is forbidden to start so as to avoid accidents caused by unsafe operation. If the lifting mechanism has a load, the controller can control the tower crane to start. After the tower crane is started, the controller can determine the lifting gear of the lifting mechanism.
If the lifting gear is not the neutral gear, namely the lifting gear or the descending gear, the controller can control the lifting mechanism, the slewing mechanism and the luffing mechanism to operate according to a preset speed. The lifting mechanism, the rotation mechanism and the amplitude changing mechanism can be controlled by corresponding lifting frequency converters, rotation frequency converters and amplitude changing frequency converters. By controlling the lifting mechanism, the slewing mechanism and the luffing mechanism to operate at a preset speed, the load can be slowly lowered until the distance between the load and a preset placement position is smaller than a preset distance, so that the safety risk is reduced.
If the lifting gear is a neutral gear, the controller monitors the rotating speed of the lifting motor. At this time, the controller may perform the following three operations:
1. if the rotating speed of the lifting motor is less than or equal to zero or tends to be zero, the controller can control the second brake band-type brake. Then, the hoisting mechanism can be controlled to stop by the second controller, so that the load hovering is controlled.
2. If the rotating speed of the lifting motor is less than or equal to zero or tends to zero, the controller can control the lifting motor to output upward torque, so that the lifting mechanism obtains upward power, and the load hovering is controlled.
3. If the rotating speed of the lifting motor is less than or equal to zero or tends to be zero, the controller can control the lifting motor to output upward torque, so that the lifting mechanism obtains upward power. And the controller can also control the second brake band-type brake. Through double protection, the load hovering is controlled, and safety accidents such as hook walking and the like are more effectively avoided.
After the load is placed at a preset placement position or hovered, the first brake can be checked, maintained or replaced, and after the potential safety hazard is relieved, the tower crane can normally operate.
Through the control method for the tower crane, the controller and the storage medium, the tower crane comprises the lifting mechanism, the first brake and the sensor, the first brake is connected with the lifting mechanism, and the sensor is used for monitoring the working state of the first brake. Receiving a wear signal transmitted by the sensor based on the failure state under the condition that the sensor monitors that the working state of the first brake is the failure state; determining a lifting gear of the lifting mechanism when the lifting mechanism lifts loads according to the abrasion signals; under the condition that the lifting gear is a neutral gear, determining the rotating speed of a lifting motor of the lifting mechanism; and under the condition that the rotating speed is less than or equal to the preset rotating speed, controlling the lifting motor to output upward torque so as to control the load to hover. The method can control the operation of the tower crane when the tower crane is loaded, and avoid the risk of insufficient braking force of the brake when the lifting gear of the tower crane returns to zero. And through the double protection of the second brake, the tower crane is always in a safe state after the brake is worn, so that the hook slipping accident is avoided, and the lifting safety of the tower crane is improved.
FIG. 1 is a flow chart of a control method for a tower crane in one embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one example, as shown in fig. 3, there is provided a tower crane comprising:
a lifting mechanism 310 for lifting a load;
the first brake 320 is connected with the lifting mechanism 310 and is used for controlling the lifting mechanism 310 to stop;
a sensor 330 electrically connected to the first brake 320, the sensor 330 being configured to monitor an operating state of the first brake 320;
the controller 340 is configured to perform the control method for the tower crane described above.
The controller 340 may control the hoist transducer by which the hoist 310 is controlled to hoist loads. The first brake 320 is coupled to the lifting mechanism 310 to effectively stop or slow the lifting mechanism 310. The sensor 330 is electrically connected to the first brake 320, and the operating state of the first brake 320 of the tower crane can be monitored in real time by the sensor 330, and when the operating state of the first brake 320 is a failure state, the sensor 330 transmits a wear signal to the controller 340. After receiving the wear signal, the controller 340 detects the lifting gear of the lifting mechanism 310 when lifting the load. In the case of a neutral gear, the controller 340 needs to determine the rotational speed of the hoist motor of the hoist 310. In the case that the rotational speed is less than or equal to the preset rotational speed, the controller 340 controls the lifting motor to output an upward torque to control the load hover. In particular, the preset rotational speed may be zero or a rotational speed tending towards zero. When the rotation speed of the lifting motor is less than or equal to zero or tends to zero, the controller 340 can control the lifting motor to output upward torque, so that the lifting mechanism 310 obtains upward power, thereby controlling the load to hover in the air and avoiding the occurrence of safety accidents such as hook walking and the like.
In one embodiment, the tower crane 300 further comprises: the slewing mechanism 350 is connected with the lifting mechanism 310 and is used for adjusting the direction of the lifting mechanism 310; and the amplitude changing mechanism 360 is connected with the lifting mechanism 310 and is used for adjusting the amplitude of the lifting mechanism 310.
The rotation direction of the lifting mechanism 310 can be adjusted by controlling the rotation of the rotation mechanism through the rotation frequency converter. The luffing mechanism can be controlled to operate through the luffing frequency converter, so that the lifting amplitude of the lifting mechanism 310 is adjusted.
In one embodiment, the tower crane further comprises: the second brake is connected with the lifting mechanism and used for controlling the lifting mechanism to stop; and the alarm device and/or the display device are used for sending out alarm signals.
The second brake means an additional second brake in case the hoisting mechanism already has the first brake. When the first brake is in a failure state, the controller receives a wear signal to monitor a lifting gear of the lifting mechanism. If the lifting gear is a neutral gear, the controller monitors the rotating speed of the lifting motor. At this time, the controller may perform the following three operations:
1. if the rotating speed of the lifting motor is less than or equal to zero or tends to be zero, the controller can control the second brake band-type brake. Then, the hoisting mechanism can be controlled to stop by the second controller, so that the load hovering is controlled.
2. If the rotating speed of the lifting motor is less than or equal to zero or tends to zero, the controller can control the lifting motor to output upward torque, so that the lifting mechanism obtains upward power, and the load hovering is controlled.
3. If the rotating speed of the lifting motor is less than or equal to zero or tends to be zero, the controller can control the lifting motor to output upward torque, so that the lifting mechanism obtains upward power. And the controller can also control the second brake band-type brake. Through double protection, the load hovering is controlled, and safety accidents such as hook walking and the like are more effectively avoided.
The alarm device can be an audible and visual alarm, and the display device can display reminding information on the display screen. The alarm device and the display device can also be other devices or means which can play a role in reminding.
In one embodiment, as shown in fig. 4, there is provided a control device 400 for a tower crane, including a signal receiving module, a gear determining module, a speed determining module, and a torque control module, wherein:
the signal receiving module 402 is configured to receive, when the sensor detects that the operating state of the first brake is a failure state, a wear signal transmitted by the sensor based on the failure state.
The gear determining module 404 is configured to determine a lifting gear of the lifting mechanism when the lifting mechanism lifts the load according to the wear signal.
The speed determining module 406 is configured to determine a rotational speed of a lifting motor of the lifting mechanism when the lifting gear is a neutral gear.
The torque control module 408 is configured to control the lifting motor to output an upward torque to control the load hover when the rotational speed is less than or equal to a preset rotational speed.
In one embodiment, the tower crane further comprises a swing mechanism and an amplitude variation mechanism, and the control method further comprises: under the condition that the lifting gear is not the neutral gear, the lifting mechanism, the slewing mechanism and the luffing mechanism are controlled to operate at a preset speed until the distance between the load and the preset placement position is smaller than the preset distance.
In one embodiment, the tower crane further comprises a second brake connected to the lifting mechanism, and the control device 400 further comprises a control module (not shown in the figure) for the second brake, so as to control the second brake to operate to control the lifting mechanism to stop through the second brake to control the load to hover under the condition that the rotating speed is less than or equal to the preset rotating speed.
In one embodiment, the gear determination module 404 includes: under the condition that the lifting mechanism is loaded, the tower crane is controlled to start, and the lifting gear is determined; under the condition that the lifting mechanism is not loaded, the tower crane is forbidden to start.
In one embodiment, the tower crane further comprises an alarm device and/or a display device, and the control apparatus 400 further comprises a warning module (not shown in the figure) for controlling the alarm device and/or the display device to emit a warning signal after receiving the wear signal.
The control device for the tower crane comprises a controller and a memory, wherein the receiving signal module, the gear determining module, the speed determining module, the torque control module and the like are all stored in the memory as program units, and the controller executes the program modules stored in the memory to realize corresponding functions.
The controller comprises a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one, and the control method for the tower crane is realized by adjusting kernel parameters.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
The embodiment of the application provides a storage medium, on which a program is stored, which when executed by a controller, implements the control method for a tower crane.
The embodiment of the application provides a controller which is used for running a program, wherein the control method for the tower crane is executed when the program runs.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a controller a01, a network interface a02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Wherein the controller a01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes internal memory a03 and nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing control data for the tower crane. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02, when executed by the controller a01, implements a control method for the tower crane.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, the control device for a tower crane provided in the present application may be implemented in the form of a computer program that is executable on a computer device as shown in fig. 5. The memory of the computer device may store the program modules that make up the control device for the tower crane, such as the signal receiving module, gear determining module, speed determining module, and torque control module shown in fig. 4. The computer program constituted by the respective program modules causes the controller to execute the steps in the control method for a tower crane of the respective embodiments of the present application described in the present specification.
The embodiment of the application provides equipment, which comprises a controller, a memory and a program stored on the memory and capable of running on the controller, wherein the controller realizes the following steps when executing the program: under the condition that the sensor monitors that the working state of the first brake is a failure state, receiving a wear signal transmitted by the sensor based on the failure state; determining a lifting gear of the lifting mechanism when the lifting mechanism lifts loads according to the abrasion signals; under the condition that the lifting gear is a neutral gear, determining the rotating speed of a lifting motor of the lifting mechanism; and under the condition that the rotating speed is less than or equal to the preset rotating speed, controlling the lifting motor to output upward torque so as to control the load to hover.
In one embodiment, the tower crane further comprises a swing mechanism and an amplitude variation mechanism, and the control method further comprises: under the condition that the lifting gear is not the neutral gear, the lifting mechanism, the slewing mechanism and the luffing mechanism are controlled to operate at a preset speed until the distance between the load and the preset placement position is smaller than the preset distance.
In one embodiment, the tower crane further comprises a second brake connected to the hoisting mechanism, and the control method further comprises: and under the condition that the rotating speed is less than or equal to the preset rotating speed, controlling the second brake to operate so as to control the lifting mechanism to stop through the second brake, and controlling the load to hover.
In one embodiment, determining a lifting gear of the lifting mechanism when lifting the load according to the wear signal comprises: under the condition that the lifting mechanism is loaded, the tower crane is controlled to start, and the lifting gear is determined; under the condition that the lifting mechanism is not loaded, the tower crane is forbidden to start.
In one embodiment, the tower crane further comprises an alarm device and/or a display device, the control method further comprising: after receiving the wear signal, the alarm device and/or the display device are/is controlled to emit a warning signal.
The present application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with the method steps of: under the condition that the sensor monitors that the working state of the first brake is a failure state, receiving a wear signal transmitted by the sensor based on the failure state; determining a lifting gear of the lifting mechanism when the lifting mechanism lifts loads according to the abrasion signals; under the condition that the lifting gear is a neutral gear, determining the rotating speed of a lifting motor of the lifting mechanism; and under the condition that the rotating speed is less than or equal to the preset rotating speed, controlling the lifting motor to output upward torque so as to control the load to hover.
In one embodiment, the tower crane further comprises a swing mechanism and an amplitude variation mechanism, and the control method further comprises: under the condition that the lifting gear is not the neutral gear, the lifting mechanism, the slewing mechanism and the luffing mechanism are controlled to operate at a preset speed until the distance between the load and the preset placement position is smaller than the preset distance.
In one embodiment, the tower crane further comprises a second brake connected to the hoisting mechanism, and the control method further comprises: and under the condition that the rotating speed is less than or equal to the preset rotating speed, controlling the second brake to operate so as to control the lifting mechanism to stop through the second brake, and controlling the load to hover.
In one embodiment, determining a lifting gear of the lifting mechanism when lifting the load according to the wear signal comprises: under the condition that the lifting mechanism is loaded, the tower crane is controlled to start, and the lifting gear is determined; under the condition that the lifting mechanism is not loaded, the tower crane is forbidden to start.
In one embodiment, the tower crane further comprises an alarm device and/or a display device, the control method further comprising: after receiving the wear signal, the alarm device and/or the display device are/is controlled to emit a warning signal.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a controller of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the controller of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more Controllers (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (10)

1. The control method for the tower crane is characterized in that the tower crane comprises a lifting mechanism, a first brake and a sensor, the first brake is connected with the lifting mechanism, the sensor is used for monitoring the working state of the first brake, and the control method comprises the following steps:
receiving a wear signal transmitted by the sensor based on a failure state when the sensor monitors that the working state of the first brake is the failure state;
determining a lifting gear of the lifting mechanism when the lifting mechanism lifts loads according to the abrasion signals;
under the condition that the lifting gear is a neutral gear, determining the rotating speed of a lifting motor of the lifting mechanism;
and under the condition that the rotating speed is less than or equal to a preset rotating speed, controlling the lifting motor to output upward torque so as to control the load to hover.
2. A control method for a tower crane according to claim 1, wherein the tower crane further comprises a swing mechanism and an amplitude variation mechanism, the control method further comprising:
and under the condition that the lifting gear is not the neutral gear, controlling the lifting mechanism, the slewing mechanism and the luffing mechanism to operate at a preset speed until the distance between the load and a preset placement position is smaller than a preset distance.
3. The control method for a tower crane according to claim 1, wherein the tower crane further comprises a second brake to which the hoisting mechanism is connected, the control method further comprising:
and controlling the second brake to operate under the condition that the rotating speed is smaller than or equal to a preset rotating speed so as to control the lifting mechanism to stop through the second brake, thereby controlling the load to hover.
4. The control method for a tower crane according to claim 1, wherein determining a lifting gear of the lifting mechanism when lifting a load according to the wear signal comprises:
under the condition that the lifting mechanism is loaded, controlling the tower crane to start, and determining the lifting gear;
and under the condition that the lifting mechanism is not loaded, prohibiting the starting of the tower crane.
5. A control method for a tower crane according to claim 1, wherein the tower crane further comprises an alarm device and/or a display device, the control method further comprising:
and after receiving the abrasion signal, controlling the alarm device and/or the display device to send out a warning signal.
6. A controller configured to perform the control method for a tower crane according to any one of claims 1 to 5.
7. A tower crane, comprising:
the lifting mechanism is used for lifting loads;
the first brake is connected with the lifting mechanism and used for controlling the lifting mechanism to stop;
the sensor is electrically connected with the first brake and is used for monitoring the working state of the first brake; and
the controller of claim 6.
8. The tower crane according to claim 7, further comprising:
the rotating mechanism is connected with the lifting mechanism and used for adjusting the direction of the lifting mechanism;
the amplitude changing mechanism is connected with the lifting mechanism and used for adjusting the amplitude of the lifting mechanism.
9. The tower crane according to claim 7, further comprising:
the second brake is connected with the lifting mechanism and used for controlling the lifting mechanism to stop;
and the alarm device and/or the display device are used for sending out alarm signals.
10. A machine-readable storage medium having instructions stored thereon, which when executed by a controller cause the controller to be configured to perform the control method for a tower crane according to any of claims 1 to 6.
CN202310315761.5A 2023-03-28 2023-03-28 Control method, device, controller and storage medium for tower crane Pending CN116534745A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310315761.5A CN116534745A (en) 2023-03-28 2023-03-28 Control method, device, controller and storage medium for tower crane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310315761.5A CN116534745A (en) 2023-03-28 2023-03-28 Control method, device, controller and storage medium for tower crane

Publications (1)

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CN116534745A true CN116534745A (en) 2023-08-04

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