CN117923329A

CN117923329A - Crane counterweight deflection automatic control method, assembly, system, crane and readable storage medium

Info

Publication number: CN117923329A
Application number: CN202410303250.6A
Authority: CN
Inventors: 曹广志; 张庆孟; 杨文龙; 吴为为
Original assignee: Xuzhou Heavy Machinery Co Ltd
Current assignee: Xuzhou Heavy Machinery Co Ltd
Priority date: 2024-03-15
Filing date: 2024-03-15
Publication date: 2024-04-26
Anticipated expiration: 2044-03-15
Also published as: CN117923329B

Abstract

The invention discloses an automatic control method, an automatic control component, an automatic control system, an automatic control crane counterweight deflection control crane and a readable storage medium, and relates to the field of engineering machinery. The automatic control method for the deflection of the crane counterweight comprises the following steps: acquiring a first distance between the counterweight and an object nearest in the counterweight moving direction; judging whether the first distance is larger than a set threshold value; if the first distance is greater than the set threshold, the position of the counterweight is selected to be automatically or manually adjusted. According to the crane counterweight displacement automatic control method provided by the technical scheme, in the counterweight displacement process, the environmental influence of the counterweight is considered, the whole process can be automatically realized, and the control is accurate and efficient; the position of the counterweight to be moved can be accurately determined before the position of the counterweight is adjusted, reworking and repeated adjustment phenomena caused by inappropriateness of the position adjustment of the counterweight are reduced, and the flexibility, accuracy and efficiency of the counterweight adjustment are greatly improved.

Description

Crane counterweight deflection automatic control method, assembly, system, crane and readable storage medium

Technical Field

The invention relates to the field of engineering machinery, in particular to a crane counterweight deflection automatic control method, a crane counterweight deflection automatic control component, a crane counterweight deflection automatic control system, a crane and a readable storage medium.

Background

The existing medium and small tonnage wheel crane has large market occupation ratio, and the counterweight deflection mode of the turntable is counterweight guide rail sliding deflection. The distance between the center of the counterweight hung on the crane turntable and the rotation center of the wheel crane determines the weight which can be hung to a certain extent, and the larger the distance is, the stronger the crane can be hung. The smaller the body length is, the better the vehicle runs. Another purpose of the counterweight displacement is to minimize the length of the body when the vehicle is traveling, and to allow the weight to be lifted up to the maximum allowable working space when the vehicle is parked for a lifting operation.

The current vehicle mainly detects the initial position and the final position of the counterweight through the detection switch, the controller distinguishes the position of the counterweight through the detection switch signal, and the controller controls the telescopic movement of the counterweight displacement oil cylinder through controlling the electromagnetic valve so as to realize the counterweight displacement.

The inventors found that at least the following problems exist in the prior art: the current weight deflection only has initial and final positions, and the control and detection system matches the weight deflection of the initial and final positions. If the current working space cannot meet the length of the vehicle body from the position where the counterweight is shifted to the end position, the counterweight can only be located at the initial position, and the control system cannot match a larger rated lifting weight for the vehicle, so that heavy lifting cannot be implemented.

Disclosure of Invention

The invention provides an automatic control method, an automatic control component, an automatic control system, an automatic control crane counterweight displacement control crane and a readable storage medium, which are used for improving the efficiency and the flexibility of counterweight displacement control.

The embodiment of the invention provides an automatic control method for deflection of a crane counterweight, which comprises the following steps:

Acquiring a first distance between a counterweight and an object nearest in the counterweight moving direction;

judging whether the first distance is larger than a set threshold value or not;

and if the first distance is larger than the set threshold value, selecting to automatically adjust or manually adjust the position of the counterweight.

In some embodiments, the position of the counterweight is automatically adjusted using the following steps:

Judging whether the input target position information of the counterweight is received or not;

If the target position information of the counterweight is received, calculating a second distance that the counterweight needs to move from the current position to the target position according to the received target position information of the counterweight;

Judging whether the second distance is smaller than or equal to the movable distance; wherein the movable distance is equal to a difference between the first distance and the set threshold;

And if the second distance is smaller than or equal to the movable distance, starting a driving component, wherein the driving component drives the counterweight to move to the target position.

In some embodiments, if target position information for the counterweight is not received, moving the counterweight from a current position to a travel limit position of the counterweight; and when the counterweight moves to the stroke limit position, a first distance between the counterweight and an object nearest in the counterweight moving direction is larger than or equal to the set threshold value.

In some embodiments, the target position information of the counterweight is determined according to a crane weight of the crane and a spatial dimension of the crane.

In some embodiments, the position of the counterweight is manually adjusted in the following manner:

A mechanical button or an electronic button is manually operated to move the position of the counterweight.

In some embodiments, the crane counterweight displacement automatic control method further comprises the steps of:

if the first distance is less than or equal to the set threshold, the crane sends out an alarm signal and/or inhibits the counterweight from moving towards the object.

In some embodiments, inhibiting the counterweight from moving further comprises the steps of:

Releasing the inhibition of the counterweight;

the counterweight is controlled to move away from the object to increase the first distance.

The embodiment of the invention also provides an automatic control assembly for the deflection of the crane counterweight, which comprises the following components:

a memory; and

A processor coupled to the memory, the processor configured to execute the crane counterweight displacement automatic control method according to any one of the aspects of the invention based on the instructions stored in the memory.

The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, realizes the crane counterweight displacement automatic control method provided by any technical scheme of the invention.

The embodiment of the invention also provides an automatic control system for the deflection of the crane counterweight, which comprises the following components:

A controller;

A driving part electrically connected with the controller, wherein the driving part is started according to the received starting signal of the controller and stopped according to the received stopping signal of the controller;

A turntable;

A counterweight slidably mounted to the turntable; the counterweight is in driving connection with the driving component so as to slide relative to the turntable under the driving of the driving component;

The first ranging element is in communication connection with the controller and is mounted on the driving component so as to detect the telescopic distance of the driving component; and

A second ranging element communicatively coupled to the controller and mounted to the counterweight, the second ranging element configured to detect a third distance of the counterweight from an object nearest in a direction of movement of the counterweight; wherein the first distance is calculated from the third distance.

In some embodiments, the number of second ranging elements is a plurality, a plurality of the second ranging elements being mounted at different locations on the counterweight edge and each being located on the sliding path of the counterweight; each of the second ranging elements is configured to independently detect a third distance of the counterweight from an object.

In some embodiments, the controller is configured to calculate a minimum of the third distances detected by the respective second ranging elements and take the minimum as the first distance of the counterweight from the object.

In some embodiments, the first distance measuring element comprises a displacement measuring sensor, and the displacement measuring sensor is built into the drive member.

In some embodiments, the second ranging element comprises a radar ranging sensor.

The embodiment of the invention also provides a crane, which comprises the crane counterweight deflection automatic control system provided by any technical scheme of the invention.

According to the automatic control method for the deflection of the counterweight of the crane, before the counterweight is deflected, the first distance between the counterweight and an object possibly touching the counterweight in the surrounding environment is acquired, and the object is the object which is in the counterweight moving direction and is closest to the counterweight, and the first distance directly influences the distance that the counterweight can move. If the distance between the weight and the object is small, i.e., the first distance between the weight and the object is less than or equal to the set threshold, it is indicated that the weight is likely to hit the object, so it is not desirable to move the weight. When the distance between the counterweight and the object is large enough, namely the first distance is larger than the set threshold, the counterweight can move, the movable displacement of the counterweight depends on the difference value between the first distance and the set threshold, and the larger the difference value is, the larger the possible movement range of the counterweight is; whereas the smaller. According to the automatic control method for the counterweight displacement of the crane, provided by the technical scheme, in the counterweight displacement process, the environmental influence of the counterweight is considered, and the whole process can automatically realize the control on whether the counterweight is movable or not and the movable quantity, so that the control is accurate and efficient; the position of the counterweight to be moved can be accurately determined before the position of the counterweight is adjusted, reworking and repeated adjustment phenomena caused by inappropriateness of the position adjustment of the counterweight are reduced, and the flexibility, accuracy and efficiency of the counterweight adjustment are greatly improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application.

Fig. 1 is a schematic diagram of a crane structure according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of connection relation between control parts of an automatic control system for deflection of a crane counterweight according to an embodiment of the invention.

Fig. 3 is a logic schematic diagram of an automatic control method for deflection of a crane counterweight according to an embodiment of the invention.

Fig. 4 is a schematic diagram of an automatic control method for deflection of a crane counterweight according to an embodiment of the invention.

Reference numerals:

1. A controller; 2. a driving part; 3. a turntable; 4. a counterweight; 5. a first distance measuring element; 6. a second distance measuring element; 7. and a cab.

Detailed Description

The technical scheme provided by the invention is described in more detail below with reference to fig. 1 to 4. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments should be construed as exemplary only and not limiting unless otherwise specifically stated.

The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements.

In this disclosure, when a particular device is described as being located between a first device and a second device, there may or may not be an intervening device between the particular device and either the first device or the second device. When it is described that a particular device is connected to other devices, the particular device may be directly connected to other devices without intervening devices, or may be directly connected to other devices without intervening devices.

All terms, including technical or scientific terms, used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are considered to be part of the specification where appropriate.

The dimensions of the various elements shown in the figures are not drawn to actual scale. In the drawings, common components or similar components are denoted by the same reference numerals, and repetitive description thereof will be omitted as appropriate.

The inventors have found that the existing cranes have a huge lifting capacity, and the weights of the weights equipped with the cranes are also huge. The heavy weight counterweight is inconvenient to install, so that a plurality of counterweights with smaller mass are generally stacked, so that the total counterweight weight meets the requirement. Another way is to movably mount the counterweight on the crane and use a telescopic cylinder to drive the counterweight to change position. The counterweight adopted by the mode is an integral body, the adjustment quantity of the movable oil cylinder is limited, the action precision of the telescopic oil cylinder is closely related to the oil pressure, the oil quantity and the oil temperature of the system oil liquid, and the telescopic oil cylinder can only finely adjust the position of the counterweight in a small range and with low precision. The inventor finds that the balance weight adjustment in the related art depends on the connection relation between the balance weight and other parts of the crane, the balance weight has few considered factors in the adjustment process, and the balance weight adjustment mode and precision cannot meet the requirements of the production field efficiently. The technical scheme provided by the embodiment of the invention can accurately and automatically adjust the position of the counterweight in a large range so as to enlarge the application scene of the crane.

The terms or terminology used herein are interpreted.

Weight deflection: the position of the counterweight on the crane turntable is changed relative to the turntable, and the counterweight is shifted so as to enable the crane to obtain different lifting performances.

The stroke limit position refers to the maximum distance that the counterweight can move in the current environment. There are two possibilities for the stroke limit position, one is in an open environment, where the stroke limit position of the counterweight is the designed maximum stroke of the counterweight. The other is that in a narrow space, the stroke limit position of the counterweight refers to a position within the designed maximum stroke of the counterweight, and the specific numerical value depends on the distance between the counterweight and objects in the surrounding environment. For example, the maximum travel designed by the counterweight is a, and the movement distance of the counterweight corresponding to the travel limit position is b, wherein a is more than or equal to b. Specifically, for example, a is 100cm and b is 80cm. In the first case, the counterweight can be moved anywhere in the range of 0-100 cm. In the second case, the counterweight can be moved arbitrarily in the range of 0to 80cm.

Before introducing the automatic control method for crane counterweight displacement provided by the embodiment of the invention, the crane and the automatic control system for crane counterweight displacement are introduced, and the automatic control method for crane counterweight displacement can be executed based on the system.

Referring to fig. 1, an embodiment of the present invention provides a crane, including a cab 7 and an automatic control system for crane counterweight displacement provided by any one of the technical schemes of the present invention.

Referring to fig. 1, the crane counterweight displacement automatic control system includes a controller 1, a driving part 2, a turntable 3, a counterweight 4, a first distance measuring element 5, and a second distance measuring element 6.

The controller 1 can be a force display integrated machine which is installed in a cab 7 of the crane and can interact with a driver to realize various interactions such as input, output, acquisition, processing and the like of information in automatic control of deflection of the counterweight 4.

The driving unit 2 is electrically connected to the controller 1, and the driving unit 2 is started up according to the received start signal of the controller 1 and stopped according to the received stop signal of the controller 1. The driving part 2 can adopt an electric push rod, one end of the electric push rod is hinged with the rotary table 3, the other end of the electric push rod is hinged with the counterweight 4, and the hinge shaft is perpendicular to the hinge surface. The counterweight 4 is driven by the electric push rod to move and shift back and forth along the guide rail. The electric push rod is controlled rapidly, and the extension amount of the electric push rod is accurate and controllable. The driving part 2 cooperates with a first distance measuring element 5, the first distance measuring element 5 measuring the movement of the driving part 2 in real time. The speed of the displacement of the counterweight 4 can also be controlled by utilizing the characteristic of adjustable expansion speed of the electric push rod.

The counterweight 4 is slidably mounted on the turntable 3; the counterweight 4 is drivingly connected to the drive member 2 for sliding movement relative to the turntable 3 under the drive of the drive member 2. The weights 4 may be integral, and one driving part 2 may be used to drive all the weights 4 to change positions. Or a plurality of weight-saving weight sub-modules are pieced together to form the weight 4. If the weight of the weight 4 used is relatively large, a plurality of driving members 2 may be used to drive the same weight 4 to move.

The first distance measuring element 5 is communicatively connected to the controller 1 and mounted to the driving part 2 to detect the telescopic distance of the driving part 2. The first ranging element 5 measures the distance moved by the driving part 2 in real time, the measured data of the first ranging element 5 is transmitted to the controller 1 in real time, and the controller 1 can judge the movement effect of the counterweight 4 according to the data fed back by the first ranging element 5. If the driving part 2 adopts an electric push rod, the projecting amount of the electric push rod is equal to the displacement amount of the counterweight 4. If the driving part 2 employs an oil cylinder, the amount of protrusion of the oil cylinder is positively correlated with the displacement amount of the counterweight 4, but since the oil cylinder is susceptible to other factors such as the oil pressure in the hydraulic oil passage, the oil temperature, etc., the amount of protrusion of the oil cylinder is not necessarily equal to the displacement amount of the counterweight 4. At this time, the second distance measuring element 6 is required to directly detect the distance between the weight 4 and the object to secure the safety of the weight movement. And the position detection of the counterweight 4 by the second distance measuring element 6 is real-time, continuous, not only in two positions, the initial position end position, but also continuously at any position. The counterweight 4 can be stopped at any allowed position, so that the adaptability of the system to the environment is greatly improved, the working condition of the crane for lifting the counterweight is increased, the counterweight 4 is always away from an object, and the operation safety is ensured; the whole process of the movement of the counterweight 4 can be completely and autonomously regulated, and the operation automation degree is high.

In some embodiments, the first distance measuring element 5 comprises a displacement measuring sensor, and the displacement measuring sensor is built in the driving part 2. By adopting the mounting mode of the first ranging element 5 built-in the driving part 2, the mounting space can be greatly saved, the first ranging element 5 cannot be influenced or destroyed by the external environment, and the service life of the first ranging element 5 is longer and the performance is more reliable.

A second distance measuring element 6 is communicatively connected to the controller 1 and mounted to the counterweight 4, the second distance measuring element 6 being configured to detect a third distance of the counterweight 4 from the object. And calculating the first distance according to the third distance. The first distance is not greater than the third distance, in particular, the first distance may be less than the third distance, or the first distance may be equal to the third distance. The second distance measuring element 6 may be a non-contact sensor such as a radar sensor, an infrared sensor, or a laser sensor.

Referring to fig. 1, in some embodiments, the number of second ranging elements 6 is plural, and the plurality of second ranging elements 6 are installed at different positions of the edge of the weight 4 and are each located on the sliding path of the weight 4. Each second distance measuring element 6 independently detects a third distance of the counterweight 4 from the object. The object refers to an object that is closest to the counterweight 4 in the moving direction of the counterweight 4, and may collide with the counterweight 4. In particular, two second distance measuring elements 6 may be provided, wherein one second distance measuring element 6 is arranged on top of the outermost edge of the direction of movement of the counterweight 4 and the other second distance measuring element 6 is arranged at the bottom of the outermost edge of the direction of movement of the counterweight 4.

The two second distance measuring elements 6 measure separately the third distance of the location from the object in the surroundings, the controller 1 being able to obtain two measurement quantities. In some embodiments, the controller 1 is configured to calculate the minimum value of the third distances detected by the respective second distance measuring elements 6, and take the minimum value as the first distance of the counterweight 4 from the object.

In some embodiments, the second ranging element 6 comprises a radar ranging sensor. The radar ranging sensor has high measurement accuracy and high measurement speed.

According to the crane counterweight deflection automatic control system provided by the technical scheme, the moving amount of the driving component 2 and the distance between the counterweight 4 and an object are detected, closed-loop control of the counterweight position is realized through the detection values, automatic deflection control and safe operation space detection of the counterweight 4 at any position in a sliding stroke can be realized, and the crane counterweight deflection automatic control system has high motorization degree.

Fig. 2 illustrates the electrical connection of the various components in the crane counterweight displacement automatic control system. The controller 1 may specifically be a force display integrated machine, which includes an operation panel, a control port and a detection port. The operation panel is provided with a counterweight position display and selection interface, a counterweight displacement speed setting interface, a counterweight working condition automatic planning button, a nearest distance display interface of surrounding objects and an alarm module. The control port is connected to the driving unit 2 in communication, and the displacement amount and the displacement direction of the driving unit 2 are controlled by the control port. The detection port is in communication connection with the first ranging element 5, the second ranging element 6 for activating the measurement data of the first ranging element 5, the second ranging element 6.

The first distance measuring element 5 and the second distance measuring element 6 are continuously detected in real time to determine the displacement of the counterweight 4, and the counterweight position display and selection interface displays the current counterweight position in real time, so that the convenience of crane operation is improved. The controller is specifically a force display integrated machine which is arranged on a control console of the cab. The display function of the force display integrated machine can be utilized to carry out man-machine interaction of the counterweight information.

Referring to fig. 2, the display interface of the force display integrated machine may further be provided with a virtual button for backward movement and forward movement of the counterweight, a virtual button for forced displacement of the counterweight, a window for setting the moving speed of the counterweight, a working condition setting for the position of the counterweight, and prompt information for the limit position of the counterweight. All virtual buttons may also be provided as physical buttons. The running program flow of the force display integrated machine is shown in figure 3.

A. And pressing a counterweight backward movement button, and controlling the electric push rod to extend by the force display integrated machine to drive the counterweight 4 to move towards the extending direction. And pressing a counterweight forward movement button, and controlling the electric push rod to retract by the force display integrated machine to drive the counterweight to move towards the reset direction. Here, rearward movement means that the weight is moved outward toward the rear of the crane. The forward movement refers to resetting the weight towards the head of the crane. Through setting up counter weight moving speed value, the power shows the current size that the all-in-one control was exported to electric putter and then controls electric putter's flexible speed.

B. The force display all-in-one machine receives the signal transmitted by the second distance measuring element 6 and displays the nearest distance between the counterweight 4 and the surrounding objects. The system is provided with the minimum allowable distance between the counterweight 4 and the surrounding objects in advance during operation, namely, the threshold value is set. When the distance between the counterweight 4 and the surrounding objects reaches a set threshold value, the force display all-in-one machine sends out an alarm signal.

C. The force display all-in-one machine receives the measurement data of the first distance measuring element 5 and displays the working condition of the current position of the counterweight 4 on a display interface. After the operator sets the weight target position, the force display integrated machine judges whether the set weight target position enables the distance between the weight 4 and surrounding objects to be larger than a set threshold value. If the distance is greater than the set threshold, the force display integrated machine controls the electric push rod to drive the counterweight 4 to shift to the designated position, and if the distance is less than or equal to the set threshold, the force display integrated machine feeds back alarm information and displays the shift limit position to which the current counterweight can move.

Referring to fig. 3 and 4, the embodiment of the invention provides an automatic control method for crane counterweight displacement, which comprises the following steps:

step S100, a first distance between the counterweight 4 and the object is obtained. Wherein the object refers to the nearest object in the direction of movement of the counterweight. In particular, the second distance measuring element 6 may be used to measure the first distance between the counterweight 4 and the object. The magnitude of the first distance determines the magnitude of the movable amount of the counterweight 4. The first distance is changed in real time, and is always the first distance between the counterweight 4 and the object when the counterweight 4 is at the current position. The initial position information of the counterweight 4 may be preset in advance and stored as initial data in the controller 1. The current position of the counterweight 4 may or may not be the initial position.

Step 200, judging whether the first distance is greater than a set threshold. The threshold is set to be a safe distance, i.e. the counterweight 4 needs to be at a distance from the object in order to increase the safety during crane operation. The setting threshold is set according to the actual working condition, and in a narrow working space, the setting threshold is 1m to 3m, for example.

Step S300, if the first distance is greater than the set threshold, selecting to automatically adjust or manually adjust the position of the counterweight 4.

First case: if the first distance is greater than the set threshold value and also greater than the maximum stroke value at the time of designing the counterweight 4, the counterweight 4 can be moved to an arbitrary position between the limit position and the initial position corresponding to the maximum stroke value. The adjustment of the counterweight 4 may be automatic or manual. Regardless of the manner of adjustment, the position of the counterweight 4 can be stopped at any position between the initial position and the stroke limit position, i.e., the counterweight 4 is infinitely displaced. The counterweight working condition is greatly expanded, the diversity of the hoisting counterweight working condition of the crane is realized, and the operation economy of the crane is improved.

Second case: if the first distance is greater than the set threshold value but less than or equal to the maximum stroke value at which the counterweight 4 is designed, the displacement amount of the counterweight 4 can be moved only by the difference between the first distance and the set threshold value at the most, but cannot be moved to the limit position corresponding to the maximum stroke value, but the configuration can be shifted steplessly within the range of the displacement amount to be operated.

The following describes how the position of the counterweight 4 is automatically adjusted.

The first is that the operator determines the target position of movement of the counterweight 4.

First, the controller 1 determines whether the inputted target position information of the counterweight 4 is received. And inputting or selecting target position information of the counterweight 4 at an interactive interface of the force display integrated machine. The set target position should be a sufficient distance from the object, i.e. greater than the set threshold described above, and should be within the stroke limit of the counterweight 4, in particular the stroke limit position or a position within the stroke limit position. The set target position depends on the magnitude of the lifting amount of the crane, and the size of the space in which the counterweight 4 is located. The larger the lifting amount is, the larger the distance the counterweight 4 needs to move is; the smaller the amount of lifting, the smaller the distance the counterweight 4 needs to move. In a small space, the distance over which the counterweight 4 can move is short. In a large space, the distance that the counterweight 4 is allowed to move is long.

Next, if the controller 1 receives the target position information of the weight 4, a second distance that the weight 4 needs to be moved from the current position to the target position is calculated from the input target position information of the weight 4. According to the current position information and the target position information of the counterweight 4, the second distance required to move the counterweight 4 can be calculated, and the second distance can be realized by means of coordinate calculation, length calculation and the like.

And repeatedly judging whether the second distance is smaller than or equal to the movable distance. Wherein the movable distance is equal to a difference between the first distance and the set threshold.

Finally, if the second distance is less than or equal to the movable distance, the driving part 2 is started to drive the counterweight 4 to move to the target position. If the second distance is less than or equal to the movable distance, it means that the weight 4 can be moved at any position between the current position and the second distance limit position (i.e., maximum value), even if the weight 4 is moved to the second distance limit position, the distance from the object is relatively large, and the distance between the weight 4 and the object is greater than the set threshold.

The second is to automatically determine the target position of the counterweight 4. In this case, if the target position information of the counterweight 4 is not received, the counterweight 4 is moved from the current position to the stroke limit position of the counterweight 4. At this time, the lifting capacity of the crane is the largest.

Third scenario: if the first distance is less than or equal to the set threshold value, the crane controller 1 signals the operator that the counterweight 4 is very close to the object and/or inhibits the counterweight 4 from moving towards the object, in which case the counterweight 4 is not allowed to move towards the object, in order to prevent the counterweight 4 from colliding with the object. The alarm signal is automatically triggered, the crane counterweight 4 is safer and more reliable in adjustment process, and the alarm operation does not need manual participation, so that the automatic identification of a safe operation space is realized.

In some embodiments, the following steps are further included after prohibiting the movement of the counterweight 4: releasing the inhibition of the counterweight 4; the control weight 4 is moved in a direction away from the object to be away from the surrounding object. The contact button on the force display integrated machine can be operated by an operator to release the forbidden lock of the counterweight 4. The counterweight 4 may be locked electronically or mechanically.

The position of the counterweight 4 is manually adjusted as described below.

The position of the counterweight 4 is manually adjusted in the following manner: the mechanical button or the electronic button is manually operated to move the position of the weight 4. The counterweight 4 can be manually stopped at an arbitrarily set position, i.e. in the manual adjustment mode the counterweight 4 is also continuously variable.

Some specific control examples are described below in conjunction with fig. 3.

Firstly, the crane counterweight deflection automatic control system is electrified, namely the force display integrated machine and each detection element are electrified, and after the electrification, the force display integrated machine displays the current position information of the counterweight 4.

The first distance measuring element 5 and the second distance measuring element 6 transmit the detected distance information to the force display all-in-one machine, and the force display all-in-one machine calculates the minimum distance between the counterweight 4 and the object according to the received information, wherein the minimum distance is the first distance.

And then judging the first distance and a set threshold value, wherein the set threshold value is a threshold value required to be warned, and can also be called as an alarm threshold value. If the first distance is smaller than the set threshold value, the distance between the counterweight 4 and the object is very small, an alarm is required, and an operator is prompted to be dangerous; and to further improve safety, the counterweight 4 may be locked so as not to move toward the object due to an erroneous operation or the like. After the weight 4 is locked, the lock can be released manually, and after the lock is released, the position of the weight 4 can be moved manually so that the weight 4 moves in a direction away from the object.

If the first distance is relatively large, the first distance is larger than the set threshold, which means that the distance of the counterweight 4 from the object is relatively large, and the position of the counterweight 4 can be adjusted. Specifically, two adjustment modes are provided: the first mode is automatic adjustment, namely the force display integrated machine automatically determines the position of the counterweight 4 according to the data; the second way is manual adjustment, i.e. the operator controls the position of the counterweight 4 by interaction with the force display machine.

If automatic adjustment is adopted, the target position information of the counterweight 4 needs to be set on the force display integrated machine. And judging how the counterweight 4 moves according to the target position information and the set threshold value. There are three specific possibilities: first, the weight 4 is far enough away from the object, and the weight 4 can be controlled to move according to the set position; secondly, if the set target position is wrong, prompt information is sent out, and the target position information of the counterweight 4 is input again; third, the weight 4 is not far from the object, and at this time, the weight 4 cannot be moved to the set target position, and at most, can be moved to the position corresponding to the set threshold, that is, the travel limit position.

In the various embodiments described above, the displacement speed of the weight 4 is controllable when adjusting the position of the weight 4, whether manually or automatically.

According to the technical scheme, the system selects to automatically balance weight and shift according to the operation allowable space and the balance weight working condition, and transmits final shift information to operators, so that the crane has automatic planning capability of the balance weight working condition, and the crane operation convenience and intellectualization are improved. The distance between the counterweight and the interference object is automatically detected, the counterweight is automatically stopped when being shifted to the position where the interference object is located, and an alarm is given to remind an operator, so that the operation safety of the crane is improved, the automatic planning of counterweight shifting is realized, and the automatic identification of a safe operation space is realized.

The embodiment of the invention also provides an automatic control assembly for the deflection of the crane counterweight, which comprises a memory and a processor coupled to the memory. The processor is configured to execute the crane counterweight displacement automatic control method provided by any one of the technical schemes of the invention based on the instructions stored in the memory.

The memory may include, for example, system memory, fixed nonvolatile storage media, and the like. The system memory stores, for example, an operating system, application programs, boot Loader (Boot Loader), and other programs.

The processors described herein may include a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disk) as used herein include Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disk) usually reproduce data magnetically, while discs (disk) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

Those skilled in the art will appreciate that the method embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flowchart and/or block of the flowchart illustrations and/or block diagrams, and combinations of flowcharts and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the protection of the present invention. When the absolute position of the object to be described is changed, the relative positional relationship may be changed accordingly.

In the description of the present invention, each technical feature may be combined with other technical features as possible.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be replaced with others, which may not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The automatic control method for the deflection of the crane counterweight is characterized by comprising the following steps of:

Acquiring a first distance between a counterweight (4) and an object nearest in the moving direction of the counterweight (4);

judging whether the first distance is larger than a set threshold value or not;

If the first distance is greater than the set threshold, an automatic adjustment or a manual adjustment of the position of the counterweight (4) is selected.

2. The crane counterweight displacement automatic control method according to claim 1, characterized in that the position of the counterweight (4) is automatically adjusted by:

Judging whether the input target position information of the counterweight (4) is received;

If target position information of the counterweight (4) is received, calculating a second distance that the counterweight (4) needs to move from a current position to the target position according to the received target position information of the counterweight (4);

And if the second distance is smaller than or equal to the movable distance, starting a driving component (2), wherein the driving component (2) drives the counterweight (4) to move to the target position.

3. The automatic control method for the deflection of the crane counterweight according to claim 2, characterized in that,

If no target position information of the weight (4) is received, moving the weight (4) from a current position to a travel limit position of the weight (4); wherein when the weight (4) moves to the stroke limit position, a first distance between the weight (4) and an object nearest in the moving direction of the weight (4) is equal to or greater than the set threshold.

4. The automatic control method for the displacement of the counterweight of the crane according to claim 2, characterized in that the target position information of the counterweight (4) is determined according to the hanging weight of the crane and the spatial dimension of the crane.

5. The automatic control method for the displacement of the crane counterweight according to claim 1, characterized in that the position of the counterweight (4) is manually adjusted by:

a mechanical button or an electronic button is manually operated to move the position of the counterweight (4).

6. The automatic control method for displacement of a crane counterweight according to claim 1, further comprising the steps of:

if the first distance is less than or equal to the set threshold value, the crane sends out an alarm signal and/or inhibits the counterweight (4) from moving towards the object.

7. The crane counterweight displacement automatic control method according to claim 6, characterized by further comprising the following steps after prohibiting the counterweight (4) from moving:

releasing the inhibition of the counterweight (4);

-controlling the movement of the counterweight (4) in a direction away from the object to increase the first distance.

8. An automatic control assembly for deflection of a crane counterweight, comprising:

a memory; and

A processor coupled to the memory, the processor configured to execute the crane counterweight displacement automatic control method according to any one of claims 1 to 7 based on instructions stored in the memory.

9. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements the crane counterweight displacement automatic control method according to any one of claims 1 to 7.

10. An automatic control system for deflection of a crane counterweight, comprising:

a controller (1);

A driving part (2) electrically connected with the controller (1), wherein the driving part (2) is started according to the received starting signal of the controller (1) and stopped according to the received stopping signal of the controller (1);

a turntable (3);

a counterweight (4) slidably mounted to the turntable (3); the counterweight (4) is in driving connection with the driving component (2) so as to slide relative to the turntable (3) under the driving of the driving component (2);

A first distance measuring element (5) which is connected with the controller (1) in a communication way and is arranged on the driving component (2) so as to detect the telescopic distance of the driving component (2); and

A second distance measuring element (6) communicatively connected to the controller (1) and mounted to the counterweight (4), the second distance measuring element (6) being configured to detect a third distance of the counterweight (4) from an object nearest in a direction of movement of the counterweight (4); wherein the first distance is calculated from the third distance.

11. The crane counterweight displacement automatic control system according to claim 10, characterized in that the number of the second distance measuring elements (6) is plural, and the plural second distance measuring elements (6) are installed at different positions of the edge of the counterweight (4) and are all located on the sliding path of the counterweight (4); each of the second distance measuring elements (6) is configured to independently detect a third distance of the counterweight (4) from the object.

12. The crane counterweight displacement automatic control system according to claim 11, characterized in that the controller (1) is configured to calculate a minimum value of the third distances detected by the respective second distance measuring elements (6), and take the minimum value as a first distance of the counterweight (4) from the object.

13. The crane counterweight displacement automatic control system according to claim 10, characterized in that the first distance measuring element (5) comprises a displacement measuring sensor, and the displacement measuring sensor is built in the driving member (2).

14. The crane counterweight displacement automatic control system according to claim 10, characterized in that the second distance measuring element (6) comprises a radar distance measuring sensor.

15. A crane comprising the crane counterweight displacement automatic control system according to any one of claims 10 to 14.