WO2022227665A1 - 起重机及其控制方法 - Google Patents

起重机及其控制方法 Download PDF

Info

Publication number
WO2022227665A1
WO2022227665A1 PCT/CN2021/142388 CN2021142388W WO2022227665A1 WO 2022227665 A1 WO2022227665 A1 WO 2022227665A1 CN 2021142388 W CN2021142388 W CN 2021142388W WO 2022227665 A1 WO2022227665 A1 WO 2022227665A1
Authority
WO
WIPO (PCT)
Prior art keywords
super
lifting
counterweight
crane
turntable
Prior art date
Application number
PCT/CN2021/142388
Other languages
English (en)
French (fr)
Inventor
孙丽
孙影
赵江平
韩雷
刘喜青
孟进军
杨继海
陈海军
Original Assignee
徐工集团工程机械股份有限公司建设机械分公司
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 徐工集团工程机械股份有限公司建设机械分公司 filed Critical 徐工集团工程机械股份有限公司建设机械分公司
Priority to DE112021006745.1T priority Critical patent/DE112021006745T5/de
Priority to US18/277,954 priority patent/US20240124275A1/en
Priority to KR1020237029383A priority patent/KR20230137421A/ko
Publication of WO2022227665A1 publication Critical patent/WO2022227665A1/zh

Links

Images

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
    • B66C23/06—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 with jibs mounted for jibbing or luffing movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • 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
    • 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
    • B66C23/16—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 with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • B66C23/166—Simple cranes with jibs which may be fixed or can slew or luff
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/74—Counterweights or supports for balancing lifting couples separate from jib
    • B66C23/76—Counterweights or supports for balancing lifting couples separate from jib and movable to take account of variations of load or of variations of length of jib
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B66C23/821—Bracing equipment for booms
    • B66C23/826—Bracing equipment acting at an inclined angle to vertical and horizontal directions
    • B66C23/828—Bracing equipment acting at an inclined angle to vertical and horizontal directions where the angle is adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • 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
    • 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
    • B66C23/90—Devices for indicating or limiting lifting moment
    • 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
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0307—Cranes in which it is essential that the load is moving horizontally during the luffing movement of the arm or jib
    • B66C2700/0314—Cranes in which it is essential that the load is moving horizontally during the luffing movement of the arm or jib in combination with the movement of the counterweight

Definitions

  • the present disclosure is based on the Chinese application with the application number of 202110465902.2 and the filing date of April 28, 2021, and claims its priority.
  • the disclosure of the Chinese application is hereby incorporated into the present disclosure as a whole.
  • the present disclosure relates to the technical field of lifting equipment, and in particular, to a crane and a control method thereof.
  • Some cranes are equipped with a super-jib to improve the boom force.
  • a super-lift counterweight and a pushing device are usually provided for the super-lift boom.
  • the balance weight is lifted off the ground, and under the action of the pushing device, the distance from the center of rotation of the turntable is changed to obtain different stable moments, increase the stability of the whole vehicle, and prevent overturning.
  • a suspension device is arranged under the super-lift arm, and the two ends of the suspension device are respectively connected to the turntable and the super-lift arm, and When no-load, it carries the weight of the super-lifting counterweight, so that the super-lifting counterweight is kept off the ground, so as to realize the rotation and walking of the super-lifting counterweight with no load.
  • the hovering device in the above-mentioned related art can meet the requirements for the rotation and walking of the unloaded super-lifting counterweight, its structure is relatively large and complex, and it is easy to interfere with the super-lifting arm and the pushing device. It is difficult and the assembly efficiency is low.
  • the present disclosure aims to provide a crane and a control method thereof, so as to more conveniently realize the functions of slewing and walking of the unloaded belt of the crane over the counterweight.
  • the crane provided by the present disclosure includes:
  • the body includes a chassis and a turntable, and the turntable is rotatably arranged on the chassis;
  • the super-lifting device includes a super-lifting arm, a suspension pulling member and a balance mechanism.
  • the balancing mechanism includes a super-lifting counterweight and a pushing device. The first ends of the super-lifting arm and the pushing device are connected to the turntable. The second end of the arm is connected with the super-lifting counterweight, the second end of the pushing device is connected with the super-lifting counterweight, and the distance between the super-lifting counterweight and the rotation center of the turntable is adjusted; and
  • the suspension device is used to support the super-lift counterweight above the ground when the crane is unloaded, the first end of the suspension device is connected with the turntable, and the second end of the suspension device is not connected with the super-lift arm.
  • the second end of the hover device is detachably engaged with the balance mechanism.
  • the second end of the hovering device is removably connected to the balance mechanism.
  • the second end of the hovering device is provided with a hook, and the hovering device is detachably connected to the balance mechanism through the hook.
  • the balancing mechanism includes a lifting cylinder and a positioning shaft, the lifting cylinder is connected with the super-lifting counterweight and drives the super-lifting counterweight to lift and lower, and the positioning shaft is arranged on the lifting cylinder and clamped in the hook to achieve balance The connection of the mechanism to the hovering device.
  • the opening of the hook faces upward.
  • the hover device includes a support beam, a tray, a connecting rod, or a hover cylinder.
  • the first end of the hovering device is hinged to the turntable, or the first end of the hovering device is welded to the turntable.
  • the crane includes a first detection device, and the first detection device detects the force of the suspension pulling member and the suspension device to determine the weight of the super-lifting counterweight; and/or, the crane includes a mast, a super-lifting The pulling member and the second detection device, the first end of the mast is connected with the turntable, the second end of the mast is connected with the super lifting arm through the super lifting pulling member, and the second detection device detects the force borne by the super lifting pulling member.
  • the first detection device includes a tension sensor, a pressure sensor or an oil pressure sensor; and/or the second detection device includes a tension sensor.
  • the present disclosure further provides a control method, which particularly includes:
  • the control balance mechanism is engaged with the hovering device, so that the super-lifting counterweight is supported above the ground by the hovering device, so that the crane can rotate or walk with the super-lifting counterweight in an unloaded state.
  • controlling the balance mechanism to engage the hovering device includes:
  • the second end of the hovering device is connected to the balance mechanism.
  • controlling the balance mechanism to engage the hovering device includes:
  • the positioning shaft of the control balance mechanism arranged on the lifting cylinder falls into the hook of the suspension device; or,
  • controlling the positioning shaft of the balance mechanism disposed on the lifting cylinder to fall into the hook of the hovering device includes:
  • the super-lifting counterweight and the heavy object hoisted by the crane are controlled to fall alternately, and the super-lifting pulling member of the crane is subjected to the force F1.
  • the first one of the two conditions of reaching the maximum limit value Fmax and the load rate of the crane reaching the maximum value is the end condition of each falling process of the super-lifting balance weight, and the force F1 on the super-lifting and pulling parts is reduced to
  • the first one of the two conditions of the minimum limit value Fmin and the stability of the whole machine after turning over to the specified limit is used as the end condition of each drop process of the suspended weight until the balance mechanism is engaged with the suspension device, and the hoisted weight After the heavy object has fallen, the load rate of the crane is the ratio of the actual load of the crane to the rated load of the crane.
  • the super-lifting counterweight lowering amplitude and the weight lowering action are controlled alternately, and The first one of the two conditions that the force F1 of the super-lifting and pulling member is reduced to the minimum limit value Fmin and the stability of the whole machine after turning over reaches the specified limit is used as the stop condition for each lowering action of the heavy object, and it is determined by exceeding the limit.
  • the first one of the two conditions that the force F1 on the pulling member rises to the maximum limit value Fmax and the load rate rises to the maximum value is used as the stop condition for each over-lifting balance weight lowering action until the over-lifting balance weight is over.
  • the distance from the rotation center of the turntable is reduced to a preset value, and the reduction of the super-lifting balance weight refers to reducing the distance between the super-lifting balance weight and the rotation center of the turntable.
  • control method includes:
  • the super-lifting counterweight is lifted off the ground;
  • the super-lifting balance weight and the suspended weight are controlled to rise alternately, and the force F1 on the super-lifting pulling member is raised to the maximum limit value Fmax and the load rate.
  • the first one of these two conditions to reach the maximum value is used as the stop condition for each lifting action of the heavy object, and the force F1 on the puller is reduced to the minimum limit value Fmin and the whole machine is stabilized after turning over.
  • the first one of these two conditions that the performance reaches the specified limit is used as the stop condition for the lifting action of each super-lifting balance weight until the super-lifting balance weight leaves the ground.
  • control method includes:
  • the first one of these two conditions is used as the stop condition for each super-lifting balance weight increase action, and the super-lifting force F1 on the pulling member is raised to the maximum limit value Fmax and the load rate.
  • the first one of the two conditions to reach the maximum value is used as the stop condition for each lifting action of the heavy object until the suspended heavy object leaves the ground.
  • the increase of the super-lifting balance weight refers to the increase of the super-lifting balance weight and the rotation of the turntable. distance between centers.
  • FIG. 1 is a schematic diagram of the overall structure of a crane without a suspension device in the related art.
  • FIG. 2 is a partial structural schematic diagram of a crane provided with a suspension device in the related art.
  • FIG. 3 shows a schematic diagram of the installation process of the suspension device of the crane shown in FIG. 2 .
  • FIG. 4 is a schematic structural diagram of a crane in an embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram of the state of the crane shown in FIG. 4 when the over-lifting counterweight is engaged with the suspension device.
  • FIG. 6 is a schematic structural diagram of the hovering device in FIG. 4 .
  • Fig. 7 shows a schematic diagram of the state of the crane when the positioning shaft has not yet been snapped into the hook.
  • FIG. 8 is an enlarged view of part I of FIG. 7 .
  • FIG. 9 is a schematic diagram of the state of the crane when the positioning shaft is clamped into the hook.
  • FIG. 10 is an enlarged view of part II of FIG. 9 .
  • FIG. 11 is a first modification example of the present disclosure.
  • FIG. 12 is a second modification example of the present disclosure.
  • FIG. 13 shows a schematic flowchart of a control method in an embodiment of the present disclosure.
  • orientations such as “front, rear, top, bottom, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” indicate the orientation
  • positional relationship is usually determined based on the azimuth or positional relationship when the crane travels normally, wherein the forward direction of the crane is taken as the front, the backward direction of the crane is taken as the rear, and the up and down, left and right when facing the front are taken as the up, down, left and right.
  • FIG. 1 shows the structure of some cranes in the related art.
  • the crane 10 includes a main body 1 and a super-lifting device 2 .
  • the body 1 includes a chassis 11 , a turntable 12 , a boom 13 , a hook 16 , a mast 14 , a mast luffing device 17 and a turntable counterweight 15 .
  • the chassis 11 is used to support and install the engine and other components of the crane 10, and realize the running function of the whole vehicle.
  • the chassis 11 is a crawler chassis.
  • the turntable 12 is rotatably arranged on the chassis 11 to drive the components mounted thereon to rotate.
  • the turntable counterweight 15 is arranged on the turntable 12 and plays the role of balancing the hoisting weight to prevent the crane 10 from tipping over.
  • the first end of the boom 13 (also called the boom or the main arm) is connected to the turntable 12 , so that the boom 13 can rotate under the driving of the turntable 12 .
  • the second end of the boom 13 is provided with a hook 16 for hoisting heavy objects, so as to realize the hoisting function of the crane 10 .
  • the first end of the mast 14 is connected with the turntable 12 to rotate under the driving of the turntable 12 .
  • the second end of the mast 14 is connected with the turntable 12 through a mast luffing device 17 (eg a pulley block), so that the mast 14 can be luffed under the action of the mast luffing device 17 .
  • a mast luffing device 17 eg a pulley block
  • the super-lifting device 2 is arranged on the main body 1, and is used to improve the force of the components and the stability of the whole machine, so as to improve the lifting performance.
  • the super-lifting device 2 includes a super-lifting arm 21 , a balance mechanism 2 a , a suspension pulling member 26 and a super-lifting pulling member 27 .
  • the balance mechanism 2a includes a super-lifting balance weight 22 and a pushing device 23 .
  • the first end of the super-lifting arm 21 is connected with the turntable 12 to rotate under the driving of the turntable 12 .
  • the second end of the super-lifting arm 21 is connected with the second end of the boom 13 through the super-lifting and luffing device 18 (such as a pulley block) on the one hand, and is connected with the second end of the mast 14 by the super-lifting pulling member 27 on the other hand, On the other hand, it is also connected to the super-lifting counterweight 22 through the suspension pulling member 26 .
  • the first end of the pushing device 23 is connected to the turntable 12, the second end is connected to the super-lifting counterweight 22, and the distance between the super-lifting counterweight 22 and the center of rotation of the turntable 12 is adjusted (also referred to as the distance of the super-lifting counterweight 22). moment radius or moment arm), to change the amplitude of the super-lifting balance weight 22 (ie, realize the amplitude variation of the super-lifting balance weight 22), and obtain different stable torques.
  • the push device 23 includes a first push arm 231 and a second push arm 232, the second push arm 232 is connected to the turntable 12 through the first push arm 231, and the second push arm 232 is The arm 232 is connected to the superlift counterweight 22 .
  • the second push arm 232 is hinged with the first push arm 231 , and a push drive mechanism is generally connected between the second push arm 232 and the first push arm 231 , and the push drive mechanism changes the angle of the second push arm 232 to achieve the Adjustment of the moment radius of the super-lifting counterweight 22 .
  • the push driving mechanism may include a push oil cylinder (not shown in the figure), and the push oil cylinder can be extended and retracted to change the angle of the second push arm 232 , so as to adjust the amplitude of the super-lifting balance weight 22 .
  • the super-lifting arm 21 that is provided generally adopts a truss-type structure, which can improve the force of the boom 13 by increasing the angle between the pulling member such as a pull plate or a cable and the boom 13, and increase the hoisting arm 13.
  • the carrying capacity of the arm 13 is improved, thereby improving the lifting performance of the crane 10 .
  • the counterweight system is generally matched to the load lifted by the hook 16 . Under a certain working condition, the product of the weight of the hoisting load and the amplitude of the boom 13 is the hoisting moment under the working condition. In order to achieve the balance of the crane 10, a counterweight system needs to be added to the rear of the turntable 12 to balance the hoisting moment. In a large-tonnage crane, because the hoisting moment is too large, the hoisting moment cannot be balanced only by the body counterweight and the turntable counterweight 15. Therefore, the superlift counterweight 22 is further increased, and the superlift counterweight 22 is adjusted by the pushing device 23.
  • the torque radius can provide different stable torques to achieve vehicle balance.
  • the super-lifting counterweight 22 When the crane 10 performs the hoisting task, the super-lifting counterweight 22 is lifted off the ground, and in this case, the crane 10 can walk and rotate normally.
  • the crane 10 shown in FIG. 1 when the crane 10 is not hoisted (ie, unloaded), the weight of the super-lifting counterweight 22 can only be pressed on the ground, and in this case, the crane 10 cannot walk or swing , therefore, in this case, the crane 10 cannot walk or slew with the super-lifting counterweight 22 in the no-load state.
  • In order to realize the walking or turning of the crane 10 when it is no-load usually only all the super-lifting counterweight 22 can be moved. However, it will obviously limit the convenience of use of the crane 10 and affect the working efficiency of the crane 10 .
  • FIG. 2 shows the structure of the crane 10 with the suspension device 3 in the related art. For the sake of clarity, only part of the structure of the crane 10 is shown in FIG. 2 .
  • the suspension device 3 is a connecting frame connected to the rear of the mast 14 and the turntable 12, and its two ends are respectively connected to the turntable 12 and the super boom 21. In this way, the suspension device 3. It can withstand pressure, and can support the entire weight of the super-lifting balance weight 22 when it is not loaded, and release the force exerted by the super-lifting balance weight 22 on the super-lifting arm 21.
  • the distance between the super-lifting balance weight 22 and the rotation center of the turntable 12 can be increased by the pushing device 23, so as to obtain a larger stable moment to balance the hoisting moment.
  • the distance between the super-lifting counterweight 22 and the rotation center of the turntable 12 can be reduced to a preset value by the pushing device 23 to prevent the crane 10 from tipping backwards, and the super-lifting counterweight 22 can be supported by the hovering device 3 Above the ground 4, the super-lifting counterweight 22 is kept off the ground, so that the crane 10 can walk and rotate with the super-lifting counterweight 22 when it is not loaded.
  • the above-mentioned suspension device 3 has a relatively large structure, heavy weight and high cost.
  • the super-lifting pulling member 27 (such as a pull plate) between the mast 14 and the super-lifting arm 21 is placed in the suspension device 3,
  • the structure is more complicated.
  • the above-mentioned suspension device 3 causes the top of the super boom 21 to be a statically indeterminate structure, and the force transmission is complicated.
  • the above-mentioned hovering device 3 is likely to interfere with the super boom 21 , the mast 14 and the pushing device 23 during the movement process, which affects the smoothness of work and is difficult to design.
  • the above-mentioned hovering device 3 needs to be installed on the super boom 21 first, and then the super boom 21 is lifted to the working position, and the assembly efficiency is low.
  • the present disclosure improves the structure of the crane 10 so as to more conveniently realize the functions of turning and traveling with the unloaded belt overrunning the counterweight.
  • the crane 10 still includes the suspension device 3, and the first end of the suspension device 3 is still connected to the turntable 12, the second end of the suspension device 3 is not Then connect with the super boom 21 .
  • the above-mentioned hovering device 3 can still support the super-lifting counterweight 22 above the ground 4 when it is no-load, and carry the entire weight of the super-lifting counterweight 22, so that the super-lifting counterweight 22 is kept in a state of being off the ground, so as to realize the super-lifting counterweight 22.
  • the pulling force of the crane 10 is released, and in the no-load state, the whole vehicle reaches the balance state again, so that the crane 10 can walk and rotate together with the super-lifting counterweight 22 without disassembling the super-lifting counterweight 22 .
  • the provided hovering device 3 can still realize the functions of turning and walking with the no-load belt over-lifting the counterweight, thereby improving the convenience of use of the crane 10 .
  • the structure is relatively simple, and the hovering device 3 can be designed It is small and does not need to be too large, which is conducive to weight reduction and cost saving.
  • the suspension device 3 will not cause the top of the super boom 21 to become a super statically indeterminate structure, which can simplify the force transmission.
  • the hovering device 3 is not likely to interfere with the super boom 21 , the mast 14 and the pushing device 23 during the movement process, which is beneficial to improve the smoothness of work and reduce the difficulty of design.
  • the hovering device 3 only needs to be connected to the turntable 12.
  • the first end of the hovering device 3 can be hinged to the turntable 12 by using several pins, or the first end of the hovering device 3 can be connected to the turntable 12.
  • the ends are welded on the turntable 12 , and the entire assembly process of the hovering device 3 does not need to perform a super-boom boom action, so the assembly efficiency is high.
  • the present disclosure can realize the functions of turning and traveling with the unloaded belt super-balancing weight based on a simpler structure and lower cost, and the assembly efficiency is high, so the crane 10 can be more conveniently realized.
  • the carrier belt has the function of turning and walking over the counterweight.
  • the second end of the hovering device 3 is detachably engaged with the balance mechanism 2a, wherein the second end of the hovering device 3 is detachably engaged with the balance mechanism 2a.
  • the weight of the super-lifting counterweight 22 is entirely borne by the hovering device 3, and is no longer borne by the super-lifting arm 21. Therefore, the force of the super-lifting counterweight 22 on the super-lifting arm disappears.
  • the balance of the whole vehicle under no-load state can be realized; when the second end of the suspension device 3 is separated from the balance mechanism 2a, the suspension device 3 does not support the superlift counterweight 22, and at this time, the superlift counterweight 22 is separated from the suspension
  • the stopping device 3 can change the distance from the center of rotation of the turntable 12 under the action of the pushing device 23, so as to conveniently provide different stable torques.
  • the detachable engagement between the second end of the hovering device 3 and the balance mechanism 2a can be achieved by only contacting the two without a connection relationship, or by detachably connecting the two.
  • the hovering device 3 includes a tray 34 , the first end of which is connected to the turntable 12 , and the second end of the tray 34 is a free end.
  • the engagement between the second end of the hovering device 3 and the balance mechanism 2a is an engagement method that only contacts but has no connection relationship.
  • the second end of the hovering device 3 is provided with a hook 32 , and the hovering device 3 is detachably connected to the balance mechanism 2 a through the hook 32 .
  • the engagement between the second end of the hovering device 3 and the balance mechanism 2a is an engagement method based on a detachable connection relationship.
  • the balance mechanism 2a can be hooked to the hook 32, so that the suspension device 3 can carry the entire weight of the super-lifting balance weight 22.
  • the balancing mechanism 2a and the hovering device 3 can be easily separated by releasing the hooking relationship between the balancing mechanism 2a and the hook 32, so that the super-lifting balance weight 22 can easily leave the hovering device.
  • Device 3 provides the stable torque required by the whole vehicle.
  • the opening of the hook 32 may face upward, so that the balance mechanism 2a can be separated and attached from the hook 32 simply by lifting and lowering the balance mechanism 2a, which is simple and convenient.
  • the balance mechanism 2 a includes a lift cylinder 24 and a positioning shaft 25 .
  • the lifting cylinder 24 is connected with the super-lifting counterweight 22 and drives the super-lifting counterweight 22 to rise and fall.
  • the positioning shaft 25 is arranged on the lifting oil cylinder 24 , and when the lifting oil cylinder 24 drives the super-lifting counterweight 22 to lift and lower, it rises and falls together with the super-lifting counterweight 22 .
  • the connection between the balance mechanism 2 a and the suspension device 3 can be realized by engaging the positioning shaft 25 in the hook 32 .
  • the positioning shaft 25 can be easily hooked on the hook 32 or disengaged from the hook 32 during the lifting process of the super-lifting counterweight 22 at the preset value from the center of rotation , no other operations are required, so the engagement and disengagement of the balance mechanism 2a and the hovering device 3 can be achieved more efficiently.
  • the inner surface of the hook 32 (that is, the surface for hooking with the balance mechanism 2 a ) is an inclined surface.
  • the hooked part (such as the positioning shaft 25) provides a section of slideway, so that the positional accuracy of the part (such as the positioning shaft 25) of the balance mechanism 2a used to be hooked with the hook 32 entering the hanging point can be tolerant to a certain extent, So that even when there is a certain deviation between the amplitude of the overrunning balance weight 22 (ie, the distance from the center of rotation) and the preset value, the part of the balance mechanism 2a for hooking up with the hook 32 (eg, the positioning shaft 25) still remains. It can smoothly enter the hook 32 to realize the hovering of the super-lifting counterweight 22 on the hovering device 3 .
  • the specific size of the slope can be designed according to the deviation of the super-lifting balance weight 22 amplitude.
  • the portion of the balance mechanism 2a for engaging with the hovering device 3 is not limited to the aforementioned positioning shaft 25 .
  • the portion of the balance mechanism 2 a for engaging with the hovering device 3 is the super-lifting balance weight 22 .
  • the part of the balance mechanism 2a for engaging with the hovering device 3 may also be a pushing device 23, for example, see FIG. 11 , in some embodiments, the hovering device 3 includes a connecting rod 33 or a hovering cylinder (not shown in the figure).
  • the first end of the connecting rod 33 or the hovering cylinder is connected to the turntable 12, and the second end of the connecting rod 33 or the hovering cylinder is connected to the pushing device 23 (specifically, the first pushing arm 231).
  • the part of the balance mechanism 2a for engaging with the hovering device 3 is the pushing device 23 .
  • the engagement between the balance mechanism 2a and the hovering device 3 can be realized either by controlling the super-lifting balance weight 22 to fall on the hovering device 3 (for example, in the case where the hovering device 3 includes the tray 34), or This is achieved by connecting the second end of the hovering device 3 with the balance mechanism 2a (eg, in the case where the hovering device 3 includes a hook 32 or a connecting rod 33).
  • FIGS. 4-12 Next, the embodiments shown in FIGS. 4-12 will be further introduced.
  • the crane 10 is a crawler crane, and includes a main body 1 , a super-lifting device 2 and a suspension device 3 .
  • the body 1 includes a chassis 11 , a turntable 12 , a boom 13 , a mast 14 and a mast luffing device 17 .
  • the turntable 12 is rotatably provided on the chassis 11 .
  • the turntable 12 may be provided with a turntable counterweight 15 (not shown in the figure).
  • the first ends of the boom 13 and the mast 14 are both connected to the front of the turntable 12 .
  • the second end of the boom 13 is provided with a hook 16 (not shown in the figure).
  • the second end of the mast 14 is connected to the turntable 12 by a mast luffing device 17 (eg a pulley block).
  • the super-lifting device 2 includes a super-lifting arm 21 , a balance mechanism 2 a , a suspension pulling member 26 and a super-lifting pulling member 27 .
  • the balance mechanism 2 a includes a super-lifting balance weight 22 , a pushing device 23 and a lifting cylinder 24 .
  • the pushing device 23 includes a first pushing arm 231, a second pushing arm 232 and a pushing oil cylinder (not shown in the figure). Among them, as shown in FIG. 4 , the first end of the super-lifting arm 21 is connected to the front part of the turntable 12 .
  • the second end of the super-lifting arm 21 is connected with the second end of the boom 13 through the super-lifting and luffing device 18 (such as a pulley block) on the one hand, and is connected with the second end of the mast 14 by the super-lifting pulling member 27 on the other hand, On the other hand, it is also connected to the super-lifting counterweight 22 through the suspension pulling member 26 .
  • the first push arm 231 is hinged to the rear of the turntable 12 and is connected to the super-lifting counterweight 22 through the second push arm 232 hinged thereto.
  • the cylinder barrel and cylinder rod of the push cylinder are respectively connected with the first push arm 231 and the second push arm 232, so that when the push cylinder is stretched, the distance between the super-lifting counterweight 22 and the rotation center of the turntable 12 can be changed, so as to realize the super-lifting counterweight 22 's amplitude. As shown in FIG. 4 and FIG. 8 to FIG.
  • the cylinder barrel of the lifting cylinder 24 is connected to the super-lifting counterweight 22 , and at the same time, the cylinder rod of the lifting cylinder 24 is connected to the second pushing arm 232 , so that the pushing device 23 passes through the lifting cylinder 24 It is connected with the super-lifting counterweight 22, and when the lifting oil cylinder 24 expands and contracts, it can drive the super-lifting counterweight 22 to lift and lower, so as to realize the adjustment of the height of the super-lifting counterweight 22 from the ground.
  • a positioning shaft 25 is provided on the cylinder barrel of the lifting oil cylinder 24 . When the lifting cylinder 24 is stretched and the super-lifting counterweight 22 is driven to descend, the cylinder barrel of the lifting cylinder 24 descends, and the positioning shaft 25 descends accordingly.
  • the hovering device 3 is arranged below the pushing device 23 and includes a supporting beam 31 and a hook 32 .
  • the first end of the support beam 31 is connected to the rear of the turntable 12 through the hinge hole 311 .
  • the second end of the support beam 31 extends rearwardly from the turntable 12 and forms a free end.
  • the hook 32 is disposed on the second end of the support beam 31 and is used for connecting with the aforementioned positioning shaft 25 to realize the detachable connection between the hovering device 3 and the super-lifting structure 2a, and perform no-load suspension for the super-lifting counterweight 22 .
  • the opening of the hook 32 faces upward, and the opening of the hook 32 has a slope.
  • FIG. 4 and FIG. 5 respectively show the states when the super-lifting counterweight 22 is not hovering over the hovering device 3 and when it is hovering over the hovering device 3 .
  • the amplitude of the super-lifting balance weight 22 can be adjusted by the pushing device 23, and the super-lifting balance weight 22 can be moved to the position where the moment radius is equal to the preset value, so that the positioning shaft 25 It is located approximately directly above the hook 32, and then, as shown in Figures 7-10, the lifting cylinder 24 is extended. Since the length of the suspension pulling member 26 is fixed, when the lifting cylinder 24 is extended, the cylinder tube of the lifting cylinder 24 is extended.
  • the function of walking and rotating with the super-lifting counterweight can be realized only by adding the hovering device 3 at the rear of the turntable 12, and neither the super-lifting arm 21, the mast 14, the suspension
  • the structures of the pulling member 26, the mast luffing device 17 and the pushing device 23 are changed, and there is no need to connect the second end of the hovering device 3 with other components during the assembly process. Structure and lower cost to achieve the improvement of assembly and work efficiency.
  • the support beam 31 adopts a truss structure, but it should be understood that the support beam 31 may also adopt other structural forms such as a box-shaped structure or an I-shaped structure.
  • the difference between the second embodiment and the aforementioned first embodiment is mainly in that the structure of the hovering device 3 is different.
  • the suspension device 3 no longer includes the aforementioned support beam 31 , but includes a connecting rod 33 .
  • the first end of the connecting rod 33 is connected with the rear of the turntable 12 , and at the same time, the second end of the connecting rod 33 is detachably connected with the first push arm 231 .
  • the second end of the connecting rod 33 can be kept separated from the first push arm 231, so that the super-lifting counterweight 22 can normally provide a stable torque, and when hovering is required, only the connecting The second end of the rod 33 is connected to the first push arm 231, so that the connecting rod 33 can support the entire weight of the super-lifting counterweight 22 and realize the no-load hovering function.
  • the connecting rod 33 can be replaced with a hover cylinder.
  • the second end of the hovering cylinder can always be connected with the first push arm 231, but when hovering is required, the hovering cylinder is controlled to be locked, so as to realize the support of the hovering cylinder to the super-lifting counterweight 22 and realize no-load suspension. stop function.
  • the suspension device 3 neither includes the support beam 31 and the hook 32 of the first embodiment, nor the connecting rod 33 or the suspension cylinder of the second embodiment, but A tray 34 is included.
  • the tray 34 is substantially L-shaped, and its vertical portion is connected to the rear of the turntable 12 and extends downward from the turntable 12 , and its horizontal portion extends horizontally rearward from its vertical portion.
  • the super-lifting counterweight 22 can first be lowered to a preset value by the driving of the pushing device 23, and then fall under the driving of the lifting cylinder 24 until it falls on the transverse part of the tray 34, so that the super-lifting counterweight 22 can be lowered to a preset value.
  • the weight of 22 is completely pressed on the tray 34 and fully borne by the tray 34 to realize the no-load hovering function.
  • the crane 10 of the embodiment of the present disclosure can conveniently realize the no-load hovering function of the super-lifting counterweight 22 .
  • the crane 10 may further include a detection device to detect the center of gravity of the whole vehicle, so as to provide data support for the calculation of the stability of the whole machine, and to facilitate the control of the lifting, luffing and hovering of the heavy objects and the super-lifting counterweight 22 And other actions are executed to achieve a more stable operation process.
  • a detection device to detect the center of gravity of the whole vehicle, so as to provide data support for the calculation of the stability of the whole machine, and to facilitate the control of the lifting, luffing and hovering of the heavy objects and the super-lifting counterweight 22 And other actions are executed to achieve a more stable operation process.
  • the crane 10 includes a first detection device, and the first detection device detects the force on the suspension pulling member 26 and the suspension device 3 to determine the weight of the superlift counterweight 22 .
  • the difference between determining the weight of the super-lifting counterweight 22 based on the force detection results of the suspension pulling member 26 and the suspension device 3 is different from determining the weight of the super-lifting counterweight 22 based only on the force detection results of the suspension device 3 .
  • the detection of the weight of the super-lifting counterweight 22 can be more accurately realized, because this can prevent the weight of the super-lifting counterweight 22 from being completely pressed on the hovering device 3 due to the hovering error, which may affect the detection of the super-lifting counterweight 22.
  • the first detection device may include two detectors, and the two detectors correspond to the suspension pulling member 26 and the suspension device 3 respectively, and detect the force of the suspension pulling member 26 and the suspension device 3 respectively.
  • the detector for detecting the force on the suspension pulling member 26 may be referred to as a first detector, and the first detector may include a tension sensor or an oil pressure sensor, and the tension sensor may be arranged on the suspension pulling member 26 to directly detect the suspension
  • the pulling force of the pulling member 26; the oil pressure sensor can be arranged on the lifting cylinder 24, and the force of the suspension pulling member 26 can be indirectly detected by detecting the oil pressure of the lifting cylinder 24.
  • the second detector may include a pressure sensor, and the pressure sensor may be disposed on the hovering device 3 to directly detect the pressure on the hovering device 3 .
  • the crane 10 includes a second detection device, and the second detection device detects the force borne by the super puller 27 .
  • the second detection device may be disposed on the super-lifting and pulling member 27, and may specifically include a tension sensor.
  • the present disclosure further provides a control method, which includes:
  • the control balance mechanism 2a is engaged with the suspension device 3 to support the superlift counterweight 22 above the ground 4 by the suspension device 3, so that the crane 10 can rotate or travel with the superlift counterweight 22 in an unloaded state.
  • the adjustment to the preset value not only includes the case where the distance between the super-lifting balance weight 22 and the rotation center of the turntable 12 is exactly equal to the preset value, but also includes the distance between the super-lifting balance weight 22 and the rotation center of the turntable 12 .
  • the distance is not equal to the preset value, but the deviation between the two is within the allowable range, so as to provide a certain error tolerance rate for the amplitude variation process of the super-balancing weight 22.
  • the second end of the connecting rod 33 of the hovering device 3 can be connected to the pushing device 23 to realize the engagement of the balance mechanism 2a and the hovering device 3. For another example, as shown in FIGS.
  • the engagement of the balance mechanism 2a and the suspension device 3 can be realized by controlling the positioning shaft 25 of the balance mechanism 2a provided on the lifting cylinder 24 to fall into the hook 32 of the suspension device 3 .
  • the lifting cylinder 24 can be controlled to drive the super-lifting counterweight 22 to descend, so that the positioning shaft 25 falls into the hook 32 and is engaged with the hook 32 .
  • the super-lifting counterweight 22 and the weight hoisted by the crane 10 can be controlled to fall alternately, and the super-lifting pulling member 27 of the crane 10 can be controlled to fall down alternately.
  • the first one of the two conditions that the force F1 reaches the maximum limit value Fmax and the load rate of the crane 10 reaches the maximum value is the end condition of each falling process of the super-lifting counterweight 22 , and is determined by the super-lifting pulling member 27 .
  • the first one of the two conditions that the applied force F1 decreases to the minimum limit value Fmin and the stability of the whole machine after turning over reaches the specified limit is the end condition of each falling process of the suspended weight until the balance mechanism 2a and the hovering The device 3 is engaged, and the hoisted weight has been dropped, that is to say, in the corresponding process, the super-lift balance weight 22 can be controlled to fall, and the force F1 on the super-lift pulling member 27 rises to the maximum limit value Fmax Or when the load rate rises to the maximum value, the super-lifting counterweight 22 is controlled to stop this fall, and after that, the suspended weight is controlled to fall, and the force F1 on the super-lifting pulling member 27 is reduced to the minimum limit value Fmin or
  • the stability of the whole machine reaches the specified limit (related to the weight of the super-lifting counterweight 22, which can be determined based on the detection result of the first detection device), control the suspended weight to stop this fall, and then control the super-lifting counterweight 22 again Fall, and so on,
  • the crane 10 can perform no-load slewing and travel with the super-lifting counterweight 22 .
  • the acting force F1 on the super puller 27 can be detected and determined by the second detection device.
  • the load ratio is the ratio of the actual load of the crane 10 to the rated load of the crane 10, where the actual load and the rated load refer to the actual load and the rated load of the boom 13 respectively, that is, the actual load imposed by the suspended weight. load and rated load.
  • the alternate action of the super-lifting counterweight 22 and the suspended weight may occur in the process of engaging the balancing mechanism 2a and the hovering device 3 after the above-mentioned pushing device 23 reduces the moment radius of the super-lifting counterweight 22 to a preset value , can also occur in the process of the pushing device 23 reducing the moment radius of the super-lifting balance weight 22 to the preset value and the lifting device 23 before the moment radius of the super-lifting balance weight 22 is reduced to the preset value. in the process.
  • the super-lifting counterweight 22 and the hoisted heavy object can be lifted alternately until the super-lifting counterweight 22 leaves the ground, and after the super-lifting counterweight 22 is lifted off the ground, the super-lifting counterweight 22 can be controlled. 22 The increase and the lifting of heavy objects are alternately performed until the heavy objects are lifted off the ground.
  • the force F1 on the super-lifting puller 27 can be raised to the maximum limit value Fmax and the load rate can be raised to the maximum value.
  • the one that is reached first is used as the stop condition for each lifting action of the heavy object, and the force F1 of the superlift pulling member 27 is reduced to the minimum limit value Fmin or the stability of the whole machine after turning over reaches the specified limit as each superlift.
  • the stop condition for the lifting action of the counterweight that is, every time the suspended weight is lifted, if the force F1 received by the super puller 27 rises to the maximum limit value Fmax or the load rate rises to the maximum value, the counterweight is stopped.
  • the current lifting action of the suspended heavy object is changed to lift the super-lifting counterweight 22, and when the force F1 on the super-lifting pulling member 27 is reduced to the minimum limit value Fmin or the stability of the whole machine after turning over reaches the specified limit , stop the current lifting action for the super-lifting counterweight 22, and instead lift the suspended weight again, and so on, until the super-lifting counterweight 22 leaves the ground.
  • the increase of the super-lifting balance weight 22 and the lifting action of the heavy object can be controlled alternately until the lifted heavy object is lifted off the ground, and during this process, the super-lifting pulling member 27 is subjected to
  • the first one of the two conditions that the force F1 reaches the minimum limit value Fmin and the stability of the whole machine after turning over reaches the specified limit is used as the stop condition for each super-lifting counterweight 22-amplification action, and the super-lifting pull is used.
  • the first one of the two conditions that the force F1 on the piece 27 rises to the maximum limit value Fmax and the load rate rises to the maximum value is used as the stop condition for each lifting action of the heavy object, that is, when the balance weight 22 is exceeded After lifting off the ground until the lifted weight is lifted off the ground, the moment radius of the super-lifting balance weight 22 can be increased (that is, the amplitude of the super-lifting balance weight 22 can be increased, referred to as the super-lifting balance weight increase), and when the super-lifting balance weight is lifted, the When the force F1 on the pulling member 27 drops to the minimum limit value Fmin or the stability of the whole machine reaches the specified limit, the current increase action of the super-lifting counterweight 22 is stopped, and then the heavy object is lifted, and the super-lifting action is stopped.
  • the lowering of the super-lifting counterweight 22 and the lowering of the weight can be controlled alternately.
  • the force F1 of the super puller 27 can be reduced to the minimum limit value Fmin or the stability of the whole machine after turning over reaches the specified limit as the stop condition for each lowering action of the heavy object, and the super load can be used as the stop condition.
  • the force F1 received by the pulling member 27 rises to the maximum limit value Fmax or the load rate rises to the maximum value as the stop condition for each super-lifting balance weight lowering action.
  • the lifted heavy object After the lifted heavy object leaves the ground, the lifted heavy object will be transferred to the target position by the crane 10, and then the heavy object will be gradually lowered until it is completely unloaded.
  • the process of lowering the heavy object includes two processes before and after the moment radius of the super-lifting counterweight 22 is reduced to the preset value, wherein the process after the moment radius of the super-lifting counterweight 22 is reduced to the predetermined value is The control process of the aforementioned engagement process of the balance mechanism 2a and the hovering device 3 has been described above, and will not be repeated here.
  • the process after the weight is transferred to the target position and before the moment radius of the super-lifting balance weight 22 is reduced to the preset value is the process of lowering the weight before the balance mechanism 2a and the hovering device 3 are engaged.
  • the action of lowering the heavy object can be performed when the force F1 on the pulling member 27 is reduced to the minimum limit value Fmin or the stability of the whole machine after turning over reaches the specified limit.
  • the stop condition of the super-lifting and pulling member 27 is raised to the maximum limit value Fmax or the load rate is raised to the maximum value as the stop condition for each super-lifting balance weight lowering action, that is, when the heavy object is After moving to the target position, the heavy object can be lowered, and the current lowering action is stopped when the force F1 on the super puller 27 falls to the minimum limit value Fmin or the stability of the whole machine after turning over reaches the specified limit. , and then change to reduce the moment radius of the superlift balance weight 22, and stop the current amplitude reduction action when the force F1 on the superlift puller 27 rises to the maximum limit value Fmax or the load rate rises to the maximum value. Then, the heavy object is lowered again, and the process is repeated until the moment radius of the super-lifting counterweight 22 is reduced to a preset value, which meets the requirements of the hovering condition.
  • the entire work control process of the crane 10 includes four processes that are carried out successively, namely, the super-lifting and balancing weight lifting off the ground, the heavy object lifting off the ground, the super-lifting and balancing weight decreasing amplitude, and the unloading and hovering process.
  • getting off the ground refers to the process of getting off the support, and is not limited to getting off the ground 4, but can also be getting off other structures that support the super-lifting counterweight 22 and the heavy objects.
  • the super-lifting counterweight to leave the ground either the super-lifting counterweight 22 leaves the ground 4 or the super-lifting counterweight 22 leaves the hovering device 3 .
  • the heavy object when the heavy object is lifted off the ground, it can be for the heavy object to leave the ground 4, or it can be for the heavy object to leave other structures that support the heavy object.
  • the first step is the super-lifting and re-lifting process.
  • the super-lifting counterweight 22 is located on the suspension device 3 or the ground 4, and the hoisted weight is located on the ground 4 or other supporting structures.
  • the force F1 on the pulling member 27 rises to the maximum limit value Fmax or the load rate rises to the maximum value, the lifting action of the heavy object is stopped.
  • the applied force F1 decreases to the minimum limit value Fmin or the stability of the whole machine reaches the specified limit, stop the lifting action of the super-balancing weight, and then change to lift the heavy object again, and so on, until the super-balancing weight 22 leaves Hover device 3 or leave ground 4.
  • the next step is to lift the heavy object off the ground.
  • the moment radius of the superlift counterweight 22 is increased, and the force F1 on the superlift puller 27 is reduced to the minimum limit value Fmin or the whole
  • Fmin the minimum limit value
  • the stability of the machine overturning reaches the specified limit
  • stop the super-lifting counterweight increasing action and then change to lift the heavy object, and when the force F1 on the super-lifting pulling member 27 rises to the maximum limit value Fmax or the load rate rises
  • the lifting action of the heavy object is stopped, and the moment radius of the super-lifting counterweight 22 is increased again, and so on, until the heavy object lifts off the ground.
  • the process of super-lifting and balancing weight reduction is carried out. After the weight is lifted off the ground, move the weight to the target position, and after moving the weight to the target position, lower the weight, and the force F1 on the puller 27 is reduced to a minimum.
  • the limit value Fmin or the stability of the whole machine reaches the specified limit, the lowering action of the heavy object is stopped, and the moment radius of the super-lifting balance weight 22 is reduced instead, and the force F1 on the super-lifting and pulling member 27 is increased.
  • the unloading hovering process is performed. After reducing the moment radius of the superlift balance weight 22 to the preset value, continue to lower the heavy object, and when the force F1 on the superlift puller 27 is reduced to the minimum limit value Fmin or the rear turning stability of the whole machine
  • the lowering action of the heavy object is stopped, and the super-lifting balance weight 22 is lowered instead, and when the force F1 on the super-lifting pulling member 27 rises to the maximum limit value Fmax or the load rate rises to the maximum value, stop
  • the lowering action of the super-lifting counterweight is changed to lowering the heavy object again, and this is repeated until the positioning shaft 25 is hooked into position in the hook 32, the super-lifting counterweight 22 is put on the hovering device 3, and the load of the heavy object is completely unloaded,
  • the crane 10 is in an unloaded state, and the super-lifting counterweight 22 is in a hovering state, after which the crane 10 can walk and rotate with the super-lifting counterweight without a load.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)

Abstract

一种起重机及其控制方法，其中起重机（10）包括：本体（1），包括底盘（11）和转台（12），转台（12）可转动地设置于底盘（11）上；超起装置（2），包括超起臂（21）、悬挂牵拉件（26）和平衡机构（2a），平衡机构（2a）包括超起平衡重（22）和推移装置（23），超起臂（21）和推移装置（23）的第一端均与转台（12）连接，悬挂牵拉件（26）与超起臂（21）的第二端和超起平衡重（22）连接，推移装置（23）的第二端与超起平衡重（22）连接，并调节超起平衡重（22）距离转台（12）的回转中心的距离；和悬停装置（3），用于在起重机（10）空载时，将超起平衡重（22）支承于地面上方，悬停装置（3）的第一端与转台（12）连接，悬停装置（3）的第二端不与超起臂（21）连接。基于此，可以更方便地实现起重机（10）的空载带超起平衡重（22）回转和行走的功能。

Description

起重机及其控制方法
相关申请的交叉引用
本公开是以申请号为202110465902.2，申请日为2021年4月28日的中国申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本公开中。
技术领域
本公开涉及起重设备技术领域，特别涉及一种起重机及其控制方法。
背景技术
一些起重机中设有超起臂，以改善吊臂受力。并且，在设有超起臂的情况下，通常为超起臂配备超起平衡重和推移装置。起重机吊装重物的过程中，超起平衡重离地，并在推移装置的作用下，改变与转台回转中心的距离，以获得不同的稳定力矩，增加整车稳定性，防止倾覆。
空载(即起重机不吊装重物)时，若超起平衡重不离地，则起重机无法回转或行走。因此，为了使起重机能在空载时带超起平衡重回转或行走，相关技术中，在超起臂下方设置悬停装置，悬停装置的两端分别与转台和超起臂连接，并在空载时，承载超起平衡重的重量，使超起平衡重保持离地状态，以实现空载带超起平衡重回转和行走。
上述相关技术中的悬停装置，虽然能够满足空载带超起平衡重回转和行走的需求，但其结构较为庞大复杂，且容易与超起臂和推移装置等发生干涉，同时还存在组装难度较大，组装效率较低的问题。
发明内容
本公开旨在提供一种起重机及其控制方法，以更方便地实现起重机的空载带超起平衡重回转和行走的功能。
为了实现上述目的，本公开所提供的起重机包括：
本体，包括底盘和转台，转台可转动地设置于底盘上；
超起装置，包括超起臂、悬挂牵拉件和平衡机构，平衡机构包括超起平衡重和推移装置，超起臂和推移装置的第一端均与转台连接，悬挂牵拉件与超起臂的第二端和 超起平衡重连接，推移装置的第二端与超起平衡重连接，并调节超起平衡重距离转台的回转中心的距离；和
悬停装置，用于在起重机空载时，将超起平衡重支承于地面上方，悬停装置的第一端与转台连接，悬停装置的第二端不与超起臂连接。
在一些实施例中，悬停装置的第二端与平衡机构可分离地接合。
在一些实施例中，悬停装置的第二端与平衡机构可拆卸地连接。
在一些实施例中，悬停装置的第二端设有挂钩，悬停装置通过挂钩与平衡机构可拆卸地连接。
在一些实施例中，平衡机构包括提升油缸和定位轴，提升油缸与超起平衡重连接，并驱动超起平衡重升降，定位轴设置在提升油缸上，并通过卡在挂钩内，来实现平衡机构与悬停装置的连接。
在一些实施例中，挂钩的开口朝向上方。
在一些实施例中，悬停装置包括支撑梁、托盘、连接杆或悬停油缸。
在一些实施例中，悬停装置的第一端与转台铰接，或者，悬停装置的第一端焊接于转台上。
在一些实施例中，起重机包括第一检测装置，第一检测装置检测悬挂牵拉件和悬停装置的受力，以确定超起平衡重的重量；和/或，起重机包括桅杆、超起牵拉件和第二检测装置，桅杆的第一端与转台连接，桅杆的第二端通过超起牵拉件与超起臂连接，第二检测装置检测超起牵拉件所承受的作用力。
在一些实施例中，第一检测装置包括拉力传感器、压力传感器或油压传感器；和/或，第二检测装置包括拉力传感器。
基于本公开实施例的起重机，本公开还提供一种控制方法，其特包括：
控制推移装置将超起平衡重与转台的回转中心之间的距离调小至预设值；
控制平衡机构与悬停装置接合，以利用悬停装置将超起平衡重支承于地面上方，使得起重机能够在空载状态下，带超起平衡重回转或行走。
在一些实施例中，控制平衡机构与悬停装置接合包括：
控制超起平衡重落至悬停装置上；或者，
使悬停装置的第二端与平衡机构连接。
在一些实施例中，控制平衡机构与悬停装置接合包括：
控制超起平衡重落至悬停装置的托盘上；或者，
控制平衡机构的设置在提升油缸上的定位轴落至悬停装置的挂钩内；或者，
将悬停装置的连接杆或悬停油缸的第二端连接至推移装置上。
在一些实施例中，控制平衡机构的设置在提升油缸上的定位轴落至悬停装置的挂钩内包括：
控制提升油缸驱动超起平衡重下降，使得定位轴落至挂钩内，与挂钩卡接。
在一些实施例中，在控制平衡机构与悬停装置接合的过程中，控制超起平衡重和起重机所吊装的重物交替地下落，且以起重机的超起牵拉件所受的作用力F1达到最大极限值Fmax和起重机的负荷率达到最大值这两个条件中最先到达的一个作为超起平衡重每次下落过程的结束条件，并以超起牵拉件所受作用力F1降至最小极限值Fmin和整机后翻稳定性达到规定极限这两个条件中最先到达的一个作为所吊重物每次下落过程的结束条件，直至平衡机构与悬停装置接合，且所吊装的重物下落完毕，起重机的负荷率为起重机的实际载荷与起重机的额定载荷之比。
在一些实施例中，在控制推移装置将超起平衡重与转台的回转中心之间的距离调小至预设值的过程中，控制超起平衡重降幅和重物下放动作交替进行，且以超起牵拉件所受作用力F1降至最小极限值Fmin和整机后翻稳定性达到规定极限这两个条件中最先到达的一个作为每次重物下放动作的停止条件，并以超起牵拉件所受作用力F1升至最大极限值Fmax和负荷率升至最大值这两个条件中最先到达的一个作为每次超起平衡重降幅动作的停止条件，直至超起平衡重与转台的回转中心之间的距离减小至预设值，超起平衡重降幅是指减小超起平衡重与转台的回转中心之间的距离。
在一些实施例中，控制方法包括：
在控制推移装置将超起平衡重与转台的回转中心之间的距离调小至预设值之前，使超起平衡重离地；
其中，在使超起平衡重离地的过程中，控制超起平衡重和所吊重物交替地上升，且以超起牵拉件所受的作用力F1升至最大极限值Fmax和负荷率升至最大值这两个条件中最先到达的一个作为每次重物提升动作的停止条件，并以超起牵拉件所受的作用力F1降至最小极限值Fmin和整机后翻稳定性达到规定极限这两个条件中最先达到的一个作为每次超起平衡重提升动作的停止条件，直至超起平衡重离地。
在一些实施例中，控制方法包括：
在控制推移装置将超起平衡重与转台的回转中心之间的距离调小至预设值之前，以及使超起平衡重离地之后，使所吊重物离地；
其中，在使所吊重物离地的过程中，控制超起平衡重增幅和重物提升动作交替进行，且以超起牵拉件所受作用力F1降至最小极限值Fmin和整机后翻稳定性达到规定极限这两个条件中最先到达的一个作为每次超起平衡重增幅动作的停止条件，且以超起牵拉件所受作用力F1升至最大极限值Fmax和负荷率升至最大值这两个条件中最先到达的一个作为每次重物提升动作的停止条件，直至所吊重物离地，超起平衡重增幅是指增大超起平衡重与转台的回转中心之间的距离。
通过设置仅第一端与转台连接，而第二端与超起臂脱开的悬停装置，不仅可以在空载时实现超起平衡重的悬浮和停留，而且结构较为简单，组装效率较高，因此，可以更方便地实现起重机的空载带超起平衡重回转和行走的功能。
通过以下参照附图对本公开的示例性实施例进行详细描述，本公开的其它特征及其优点将会变得清楚。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为相关技术中未设置悬停装置的起重机的整体结构示意图。
图2为相关技术中设有悬停装置的起重机的部分结构示意图。
图3示出图2所示起重机的悬停装置的安装过程示意。
图4为本公开实施例中起重机的结构示意图。
图5为图4所示起重机在超起平衡重与悬停装置接合时的状态示意图。
图6为图4中悬停装置的结构示意图。
图7示出起重机在定位轴尚未卡入挂钩中的状态示意图。
图8为图7的I局部放大图。
图9为起重机在定位轴卡入挂钩中的状态示意图。
图10为图9的II局部放大图。
图11为本公开的第一变型例。
图12为本公开的第二变型例。
图13示出本公开实施例中控制方法的流程示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有开展创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
在本公开的描述中，需要理解的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本公开保护范围的限制。
在本公开的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于起重机正常行驶时的方位或位置关系确定的，其中，以起重机前进的方向为前，以起重机后退的方向为后，并以面对前方时的上下左右为上下左右。
此外，下面所描述的本公开不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
图1示出相关技术中一些起重机的结构。如图1所示，该起重机10包括本体1和超起装置2。
本体1包括底盘11、转台12、吊臂13、吊钩16、桅杆14、桅杆变幅装置17和转台平衡重15。底盘11用于支承和安装起重机10的发动机及其他组成部分，并实现整车的行驶功能。在起重机10为履带式起重机时，底盘11为履带式底盘。转台12可转动地设置在底盘11上，以带动安装在其上的部件转动。转台平衡重15设置在转台12上，起到平衡吊载重量的作用，以防止起重机10倾翻。吊臂13(又称臂架或主臂)的第一端连接于转台12上，使得吊臂13能够在转台12的带动下回转。吊臂13的第二端设有用于吊装重物的吊钩16，以实现起重机10的吊装功能。桅杆14的第一端与转台12连接，以在转台12的带动下回转。桅杆14的第二端通过桅杆变幅装置17(例如滑轮组)与转台12连接，使得桅杆14可以在桅杆变幅装置17的作用下变幅。
超起装置2设置在本体1上，用于改善部件受力和整机稳定性，以提高起重性能。如图1所示，超起装置2包括超起臂21、平衡机构2a、悬挂牵拉件26和超起牵拉件27。平衡机构2a包括超起平衡重22和推移装置23。超起臂21的第一端与转台12连接，以在转台12的带动下回转。超起臂21的第二端一方面通过超起变幅装置18(例如滑轮组)与吊臂13的第二端连接，另一方面通过超起牵拉件27与桅杆14的第二端连接，再一方面还通过悬挂牵拉件26与超起平衡重22连接。推移装置23的第一端连接于转台12上，第二端与超起平衡重22连接，并通过调节超起平衡重22距离转台12回转中心的距离(也可称为超起平衡重22的力矩半径或力臂)，来改变超起平衡重22的幅度(即实现超起平衡重22的变幅)，获得不同的稳定力矩。
结合图4，作为推移装置23的一种结构形式，推移装置23包括第一推移臂231和第二推移臂232，第二推移臂232通过第一推移臂231与转台12连接，且第二推移臂232与超起平衡重22连接。第二推移臂232与第一推移臂231铰接，且第二推移臂232与第一推移臂231之间一般连接有推移驱动机构，推移驱动机构通过改变第二推移臂232的角度，来实现对超起平衡重22的力矩半径的调节。其中，推移驱动机构可以包括推移油缸(图中未示出)，推移油缸通过伸缩，来改变第二推移臂232的角度，进而实现对超起平衡重22幅度的调节。
所设置的超起臂21，一般采用桁架式结构，其可以通过增大拉板或拉索等牵拉件与吊臂13之间的夹角，来改善吊臂13的受力，增大吊臂13的承载能力，进而改善起重机10的起重性能。
所设置的超起平衡重22，与前述转台平衡重15和未图示的车身平衡重一起，形成整车的平衡重系统，主要利用重量压载，来平衡吊载重量(即所吊重物的重量)，实现整机力矩平衡，保持整机稳定。
平衡重系统一般与吊钩16所吊载荷匹配。某工况下，吊载的重量与吊臂13的幅度的乘积，即为该工况下的吊载力矩。为达到起重机10的平衡，就需要在转台12的后部增加平衡重系统，来平衡此吊载力矩。在大吨位起重机中，由于吊载力矩太大，仅依靠车身平衡重和转台平衡重15无法平衡吊载力矩，因此，进一步增加超起平衡重22，并通过推移装置23调节超起平衡重22的力矩半径，可以提供不同的稳定力矩，实现整车平衡。
起重机10执行吊载任务时，超起平衡重22被提升离地，这种情况下，起重机10可以正常行走和回转。然而，在图1所示的起重机10中，当起重机10不吊载 (即空载)时，超起平衡重22的重量只能压在地面上，这种情况下，起重机10无法行走或回转，因此，这种情况下，起重机10无法在空载状态下带超起平衡重22行走或回转，要想实现起重机10在空载时的行走或回转，通常只能将超起平衡重22全部拆掉，但这显然会限制起重机10的使用便利性，影响起重机10的工作效率。
针对上述情况，一些相关技术中对图1所示的起重机10进行了改进，在起重机10中增设悬停装置3，利用悬停装置3在空载时支承超起平衡重22的全部重量，来实现起重机10的空载带超起平衡重22的行走和回转功能。
图2示出了相关技术中带悬停装置3的起重机10的结构。为了清楚起见，图2中仅示出了起重机10的部分结构。
如图2所示，在该起重机10中，悬停装置3为连接在桅杆14和转台12后部的连接架，其两端分别与转台12和超起臂21连接，这样，该悬停装置3能够承受压力，可以在空载时支承超起平衡重22的全部重量，释放超起平衡重22对超起臂21所施加的作用力。
基于上述结构，一方面，在吊重时，可以通过推移装置23增大超起平衡重22与转台12回转中心的距离，获得较大的稳定力矩，来平衡吊载力矩，另一方面，空载时，可以通过推移装置23将超起平衡重22与转台12回转中心的距离减小至预设值，来防止起重机10向后倾翻，并利用悬停装置3将超起平衡重22支承于地面4上方，使超起平衡重22保持离地，使得起重机10在空载时能够带超起平衡重22行走和回转。
可见，基于所设置的悬停装置3，能够实现空载带超起平衡重22行走及回转的功能。由于无需拆卸超起平衡重22，因此，使用较为方便，对工作效率的影响较小。
然而，上述悬停装置3，其结构较为庞大，重量重，成本高，同时，桅杆14和超起臂21之间的超起牵拉件27(例如拉板)置于悬停装置3中，结构较为复杂。并且，上述悬停装置3导致超起臂21顶部为超静定结构，传力复杂。同时，上述悬停装置3，容易与超起臂21、桅杆14和推移装置23在运动过程中发生干涉，影响工作顺畅性，且设计难度较大。另外，参见图3，上述悬停装置3，在组装时，需要先安装于超起臂21上，然后再将超起臂21起吊至工作位置，组装效率较低。
可见，采用上述悬停装置3时，存在结构复杂，成本高，组装效率低，以及易干涉，设计难度大等问题。
针对上述情况，本公开对起重机10的结构进行改进，以更方便地实现空载带超起平衡重回转和行走功能。
图4-12示例性地示出了本公开起重机10的结构。
参见图4-12，在本公开的实施例中，起重机10虽然仍包括悬停装置3，且该悬停装置3的第一端仍与转台12连接，但悬停装置3的第二端不再与超起臂21连接。
上述悬停装置3，仍可在空载时，将超起平衡重22支承于地面4上方，承载超起平衡重22的全部重量，使超起平衡重22保持于离地状态，实现超起平衡重22在转台12后部的悬浮和停留，这样，超起平衡重22的重量全部由悬停装置3承担，悬挂牵拉件26处于松弛状态，超起臂21所受超起平衡重22的拉力释放，在空载状态下，整车即重新达到平衡状态，从而起重机10可以带着超起平衡重22一起进行行走和回转，无需再拆卸超起平衡重22。可见，所设置的悬停装置3，仍能够实现空载带超起平衡重回转和行走功能，提高起重机10的使用便利性。
并且，由于悬停装置3的第二端不再与超起臂21连接，而是始终与超起臂21的第二端保持脱开，因此，结构较为简单，并且，悬停装置3可以设计得较小，无需过于庞大，有利于减重及节约成本。同时，悬停装置3不会导致超起臂21顶部成为超静定结构，可以简化传力。并且，悬停装置3不容易与超起臂21、桅杆14和推移装置23在运动过程中发生干涉，有利于提高工作顺畅性，并降低设计难度。另外，安装时，悬停装置3只需与转台12连接，例如，可以利用几个销轴将悬停装置3的第一端铰接于转台12上，或者，可以将悬停装置3的第一端焊接于转台12上，整个悬停装置3的组装过程无需做超起臂起臂动作，因此，组装效率较高。
可见，基于前述设置，本公开可以基于较简单的结构和较低的成本实现空载带超起平衡重回转和行走功能，且组装效率较高，因此，可以更方便地实现起重机10的空载带超起平衡重回转和行走的功能。
作为悬停装置3实现超起平衡重悬停功能的一种实现方式，在一些实施例中，悬停装置3的第二端与平衡机构2a可分离地接合，其中，在悬停装置3的第二端与平衡机构2a接合时，超起平衡重22的重量全部由悬停装置3承担，而不再由超起臂21承担，因此，超起臂所受超起平衡重22的力消失，可以实现空载状态下的整车平衡；在悬停装置3的第二端与平衡机构2a分离时，悬停装置3不支承超起平衡重22，此时，超起平衡重22脱离悬停装置3，可以在推移装置23的作用下，改变距转 台12回转中心的距离，方便地提供不同的稳定力矩。
其中，悬停装置3第二端与平衡机构2a之间的可分离的接合，可以通过二者仅接触，但无连接关系来实现，也可以通过将二者可拆卸地连接来实现。
例如，参见图12，一些实施例中，悬停装置3包括托盘34，该托盘34的第一端与转台12连接，同时，该托盘34的第二端为自由端。这种情况下，悬停装置3第二端与平衡机构2a的接合，即是一种仅接触，但无连接关系的接合方式。空载时，超起平衡重22可以落至托盘34上，被托盘34承托，使得超起平衡重22的重量全部压在托盘34上，由托盘34承担。而在吊载时，超起平衡重22又可以方便地离开托盘34，提供整车所需的稳定力矩。
再例如，参见图4-10，一些实施例中，悬停装置3的第二端设有挂钩32，悬停装置3通过挂钩32与平衡机构2a可拆卸地连接。这种情况下，悬停装置3第二端与平衡机构2a的接合，即是一种基于可拆卸连接关系的接合方式。空载时，平衡机构2a可以挂接至挂钩32上，以由悬停装置3承载超起平衡重22的全部重量。而在吊载时，又可以通过解除平衡机构2a与挂钩32之间的挂接关系，来方便地实现平衡机构2a与悬停装置3的分离，使超起平衡重22可以方便地离开悬停装置3，提供整车所需的稳定力矩。
其中，参见图7-10，挂钩32的开口可以朝向上方，这样，只需对平衡机构2a进行升降，即可实现平衡机构2a与挂钩32的分离和挂接，简单方便。
如图7-10所示，在一些实施例中，平衡机构2a包括提升油缸24和定位轴25。提升油缸24与超起平衡重22连接，并驱动超起平衡重22升降。定位轴25设置在提升油缸24上，在提升油缸24驱动超起平衡重22升降时，随着超起平衡重22一起升降。此时，在基于挂钩32实现悬停装置3与平衡机构2a的可拆卸连接的情况下，可以通过使定位轴25卡在挂钩32内，来实现平衡机构2a与悬停装置3的连接。并且，在挂钩32的开口朝上的情况下，定位轴25可以在距回转中心预设值处的超起平衡重22的升降过程中方便地挂接在挂钩32上或从挂钩32上脱开，无需其他操作，因此，可以较高效地实现平衡机构2a与悬停装置3的接合和分离。
另外，参见图10，一些实施例中，挂钩32的内表面(即用于与平衡机构2a挂接的表面)为倾斜表面，此时，相应的斜面可以为平衡机构2a的用于与挂钩32挂接的部分(例如定位轴25)提供一段滑道，这样，可以对平衡机构2a的用于与挂钩32挂接的部分(例如定位轴25)进入挂点的位置精度具有一定的包容性，使得即使在 超起平衡重22的幅度(即与回转中心之间的距离)与预设值存在一定的偏差时，平衡机构2a的用于与挂钩32挂接的部分(例如定位轴25)仍然可以顺利进入挂钩32中，实现超起平衡重22在悬停装置3上的悬停。斜度的具体尺寸可以根据超起平衡重22幅度的偏差大小来设计。
应当理解，平衡机构2a的用于与悬停装置3接合的部分不限于前述定位轴25。例如，在图12所示的悬停装置3包括托盘34的情况下，平衡机构2a的用于与悬停装置3接合的部分即为超起平衡重22。或者，平衡机构2a的用于与悬停装置3接合的部分也可以为推移装置23，例如，参见图11，一些实施例中，悬停装置3包括连接杆33或悬停油缸(图中未示出)，连接杆33或悬停油缸的第一端与转台12连接，连接杆33或悬停油缸的第二端则与推移装置23(具体可以为第一推移臂231)连接，此时，平衡机构2a的用于与悬停装置3接合的部分即为推移装置23。
同时，由前述可知，平衡机构2a与悬停装置3的接合，既可以通过控制超起平衡重22落至悬停装置3上(例如悬停装置3包括托盘34的情况)来实现，也可以通过使悬停装置3的第二端与平衡机构2a连接来实现(例如悬停装置3包括挂钩32或连接杆33的情况)。
接下来对图4-12所示的实施例予以进一步地介绍。
首先介绍图4-10所示的第一实施例。
如图4-10所示，在该第一实施例中，起重机10为履带式起重机，并包括本体1、超起装置2和悬停装置3。
如图4所示，本体1包括底盘11、转台12、吊臂13、桅杆14和桅杆变幅装置17。转台12可转动地设置在底盘11上。转台12上可以设置转台平衡重15(图中省略未画)。吊臂13和桅杆14的第一端均连接于转台12的前部。吊臂13的第二端设有吊钩16(图中省略未画)。桅杆14的第二端通过桅杆变幅装置17(例如滑轮组)与转台12连接。
结合图4、图8和图10可知，超起装置2包括超起臂21、平衡机构2a、悬挂牵拉件26和超起牵拉件27。平衡机构2a包括超起平衡重22、推移装置23和提升油缸24。推移装置23包括第一推移臂231、第二推移臂232和推移油缸(图中未示出)。其中，如图4所示，超起臂21的第一端与转台12的前部连接。超起臂21的第二端一方面通过超起变幅装置18(例如滑轮组)与吊臂13的第二端连接，另一方面通过超起牵拉件27与桅杆14的第二端连接，再一方面还通过悬挂牵拉件26与超起平 衡重22连接。第一推移臂231铰接于转台12的后部，并通过与之铰接的第二推移臂232与超起平衡重22连接。推移油缸的缸筒和缸杆分别与第一推移臂231和第二推移臂232连接，使得推移油缸伸缩时，可以改变超起平衡重22距转台12回转中心的距离，实现超起平衡重22的变幅。如图4以及图8-图10所示，提升油缸24的缸筒与超起平衡重22连接，同时，提升油缸24的缸杆与第二推移臂232连接，使得推移装置23通过提升油缸24与超起平衡重22连接，且提升油缸24伸缩时，可以驱动超起平衡重22升降，实现对超起平衡重22离地高度的调节。提升油缸24的缸筒上设有定位轴25。在提升油缸24伸长，驱动超起平衡重22下降时，提升油缸24的缸筒下降，定位轴25随之下降。
如图4和图6所示，悬停装置3设置在推移装置23下方，并包括支撑梁31和挂钩32。支撑梁31的第一端通过铰接孔311连接于转台12的后部。支撑梁31的第二端由转台12向后延伸，并形成自由端。挂钩32设置于支撑梁31的第二端，用于与前述定位轴25连接，以实现悬停装置3与超起结构2a的可拆卸连接，对超起平衡重22进行空载悬停。其中，挂钩32的开口朝上，且挂钩32的开口具有斜度。
图4和图5分别示出了超起平衡重22未悬停至悬停装置3和悬停至悬停装置3上时的状态。其中，在由图4切换至图5的过程中，可以通过推移装置23调节超起平衡重22的幅度，将超起平衡重22移动至力矩半径等于预设值处的位置，使定位轴25大致位于挂钩32的正上方，然后，如图7-10所示，使提升油缸24伸长，由于悬挂牵拉件26长度固定，因此，在提升油缸24伸长时，提升油缸24的缸筒连同超起平衡重22一起向下移动，直至位于提升油缸24缸筒上的定位轴25由挂钩32上方的位置(参见图8)向下移动至卡入挂钩32中(参见图10)，此时，悬停装置3承担超起平衡重22的全部重量，悬挂牵拉件26松弛不受力，超起臂21所受超起平衡重22的拉力得以释放，因此，在空载状态下，整车重新达到平衡状态，起重机10可以带着超起平衡重22一起，进行移动和回转。
可见，在该实施例中，只需在转台12后部增加悬停装置3，即可实现空载带超起平衡重行走和回转的功能，既不需要对超起臂21、桅杆14、悬挂牵拉件26、桅杆变幅装置17和推移装置23等部件的结构进行改变，也不需要在组装过程中将悬停装置3的第二端与其他部件进行连接，因此，可以基于较简单的结构和较低的成本，实现对组装和工作效率的提升。
其中，如图6所示，在该实施例中，支撑梁31采用桁架式结构，但应当理 解，支撑梁31也可以采用箱型结构或工字型结构等其他结构形式。
接下来介绍图11所示的第二实施例。
如图11所示，该第二实施例与前述第一实施例的区别主要在于，悬停装置3的结构不同。具体地，在该第二实施例中，悬停装置3不再包括前述支撑梁31，而是包括连接杆33。该连接杆33的第一端与转台12的后部连接，同时，该连接杆33的第二端与第一推移臂231可拆卸地连接。这样，在不需要悬停时，连接杆33的第二端可以与第一推移臂231保持分离状态，以便超起平衡重22可以正常提供稳定力矩，而在需要悬停时，只需将连接杆33的第二端连接至第一推移臂231上，即可实现连接杆33对超起平衡重22全部重量的支承，实现空载悬停功能。
作为替代，可以将连接杆33换成悬停油缸。悬停油缸的第二端可以始终与第一推移臂231保持连接，只是在需要悬停时，控制悬停油缸锁止，来实现悬停油缸对超起平衡重22的支承，实现空载悬停功能。
接下来介绍图12所示的第三实施例。
如图12所示，在该第三实施例中，悬停装置3既不包括第一实施例的支撑梁31和挂钩32，也不包括第二实施例的连接杆33或悬停油缸，而是包括托盘34。托盘34大致呈L型，其竖部与转台12后部连接并由转台12向下延伸，其横部则由其竖部水平向后地延伸。需要悬停时，超起平衡重22可以先在推移装置23的驱动下降幅至预设值，然后在提升油缸24的驱动下下落，直至落至托盘34的横部上，使得超起平衡重22的重量完全压在托盘34上，由托盘34完全承担，实现空载悬停功能。
综合前述可知，本公开实施例的起重机10，可以方便地实现超起平衡重22的空载悬停功能。
在前述各实施例中，起重机10可以进一步包括检测装置，对整车重心进行检测，以为整机稳定性计算提供数据支持，方便控制重物和超起平衡重22的升降、变幅和悬停等动作的执行，实现更加平稳的运行过程。
例如，一些实施例中，起重机10包括第一检测装置，第一检测装置检测悬挂牵拉件26和悬停装置3的受力，以确定超起平衡重22的重量。基于对悬挂牵拉件26和悬停装置3的受力检测结果，来确定超起平衡重22的重量，与仅基于对悬停装置3的受力检测结果来确定超起平衡重22重量的情况相比，可以更准确地实现对超起平衡重22重量的检测，因为，这样可以防止因悬停误差，超起平衡重22重量未完全压在悬停装置3上，而影响对超起平衡重22重量的检测结果的准确性。其中，第一检 测装置可以包括两个检测器，两个检测器分别与悬挂牵拉件26和悬停装置3对应，分别检测悬挂牵拉件26和悬停装置3的受力。其中，检测悬挂牵拉件26受力的检测器可以称为第一检测器，该第一检测器可以包括拉力传感器或油压传感器，拉力传感器可以设置于悬挂牵拉件26上，直接检测悬挂牵拉件26所受的拉力；油压传感器可以设置在提升油缸24上，通过检测提升油缸24的油压，来间接检测悬挂牵拉件26的受力。第二检测器可以包括压力传感器，压力传感器可以设置在悬停装置3上，直接检测悬停装置3所受的压力。
再例如，一些实施例中，起重机10包括第二检测装置，第二检测装置检测超起牵拉件27所承受的作用力。第二检测装置可以设置在超起牵拉件27上，并具体可以包括拉力传感器。
基于前述各实施例的起重机10，参见图13，本公开还提供一种控制方法，其包括：
控制推移装置23将超起平衡重22与转台12的回转中心之间的距离调小至预设值；
控制平衡机构2a与悬停装置3接合，以利用悬停装置3将超起平衡重22支承于地面4上方，使得起重机10能够在空载状态下，带超起平衡重22回转或行走。
其中，调小至预设值，既包括超起平衡重22与转台12的回转中心之间的距离恰好等于预设值的情况，也包括超起平衡重22与转台12的回转中心之间的距离不等于预设值，但二者偏差在允许范围内的情况，以为超起平衡重22的变幅过程提供一定的容错率。
而控制平衡机构2a与悬停装置3接合，既可以是控制超起平衡重22落至悬停装置3上，例如，在图12所示的实施例中，可以通过控制超起平衡重22落至悬停装置3的托盘34上，来实现平衡机构2a与悬停装置3的接合；或者，也可以是使悬停装置3的第二端与平衡机构2a连接，例如，在图11所示的实施例中，可以通过将悬停装置3的连接杆33的第二端连接至推移装置23上，来实现平衡机构2a与悬停装置3的接合，再例如，在图4-10所示的实施例中，可以通过控制平衡机构2a的设置在提升油缸24上的定位轴25落至悬停装置3的挂钩32内，来实现平衡机构2a与悬停装置3的接合。其中，具体地，在控制定位轴25落至挂钩32内时，可以控制提升油缸24驱动超起平衡重22下降，使得定位轴25落至挂钩32内，与挂钩32卡接。
另外，在控制平衡机构2a与悬停装置3接合的过程中，可以控制超起平衡 重22和起重机10所吊装的重物交替地下落，且以起重机10的超起牵拉件27所受的作用力F1达到最大极限值Fmax和起重机10的负荷率达到最大值这两个条件中最先到达的一个作为超起平衡重22每次下落过程的结束条件，并以超起牵拉件27所受作用力F1降至最小极限值Fmin和整机后翻稳定性达到规定极限这两个条件中最先到达的一个作为所吊重物每次下落过程的结束条件，直至平衡机构2a与悬停装置3接合，且所吊装的重物下落完毕，也就是说，相应过程中，可以控制超起平衡重22下落，并在超起牵拉件27所受的作用力F1升至最大极限值Fmax或负荷率升至最大值时时，控制超起平衡重22停止本次下落，之后，控制所吊重物下落，并在超起牵拉件27所受的作用力F1降至最小极限值Fmin或整机后翻稳定性达到规定极限(与超起平衡重22的重量相关，可以基于第一检测装置的检测结果确定)，控制所吊重物停止本次下落，然后控制超起平衡重22再次下落，如此反复，直至超起平衡重22在悬停装置3上落实，且吊载载荷全部卸去，此时，起重机10处于空载状态，且超起平衡重22处于悬停状态，因此，起重机10可以带超起平衡重22进行空载回转和行走。其中，超起牵拉件27所受的作用力F1可以由第二检测装置检测确定。负荷率为起重机10的实际载荷与起重机10的额定载荷之比，此处实际载荷和额定载荷分别是指吊臂13所承受的实际载荷和额定载荷，也即为所吊重物所施加的实际载荷和额定载荷。
超起平衡重22和所吊重物的交替动作，除了可以发生于上述推移装置23将超起平衡重22的力矩半径调小至预设值之后的平衡机构2a与悬停装置3接合过程中，还可以发生于推移装置23将超起平衡重22的力矩半径调小至预设值的过程中以及推移装置23将超起平衡重22的力矩半径调小至预设值之前的起吊重物过程中。
例如，在起吊重物过程中，可以先交替地提升超起平衡重22和所吊装重物，直至超起平衡重22离地，并在超起平衡重22离地后，控制超起平衡重22增幅和重物提升动作交替进行，直至所吊重物离地。并且，其中，在使超起平衡重22离地的过程中，可以以超起牵拉件27所受的作用力F1升至最大极限值Fmax和负荷率升至最大值这两个条件中最先到达的一个作为每次重物提升动作的停止条件，并以超起牵拉件27所受的作用力F1降至最小极限值Fmin或整机后翻稳定性达到规定极限作为每次超起平衡重提升动作的停止条件，即，在每次提升所吊重物时，若超起牵拉件27所受的作用力F1升至最大极限值Fmax或负荷率升至最大值，则停止针对所吊重物的当次提升动作，改为提升超起平衡重22，并在超起牵拉件27所受的作用力F1降至最小极限值Fmin或整机后翻稳定性达到规定极限时，停止针对超起平衡重22的当次提升动 作，改为再次提升所吊重物，如此反复，直至超起平衡重22离地。而在超起平衡重22离地后，可以控制超起平衡重22增幅和重物提升动作交替进行，直至所吊重物离地，并在该过程中，以超起牵拉件27所受的作用力F1降至最小极限值Fmin和整机后翻稳定性达到规定极限这两个条件中最先到达的一个作为每次超起平衡重22增幅动作的停止条件，且以超起牵拉件27所受的作用力F1升至最大极限值Fmax和负荷率升至最大值这两个条件中最先到达的一个作为每次重物提升动作的停止条件，即，在超起平衡重22离地后直至所吊重物离地的过程中，可以增大超起平衡重22的力矩半径(即增大超起平衡重22的幅度，简称超起平衡重增幅)，并在超起牵拉件27所受的作用力F1降至最小极限值Fmin或整机后翻稳定性达到规定极限时，停止超起平衡重22的当次增幅动作，之后改为提升重物，并在超起牵拉件27所受的作用力F1升至最大极限值Fmax或负荷率升至最大值时，停止当次重物提升动作，之后改为再次增大超起平衡重22的力矩半径，如此反复，直至，所吊重物离地。
再例如，在推移装置23将超起平衡重22的力矩半径调小至预设值的过程中，可以控制超起平衡重22降幅和重物下放动作交替进行。并且，该过程中，可以以超起牵拉件27所受的作用力F1降至最小极限值Fmin或整机后翻稳定性达到规定极限作为每次重物下放动作的停止条件，并以超起牵拉件27所受的作用力F1升至最大极限值Fmax或负荷率升至最大值作为每次超起平衡重降幅动作的停止条件。
在所吊重物离地后，所吊重物会被起重机10转移至目标就位地点，之后，重物会被逐渐下放，直至完全卸荷。可以理解，该重物下放过程，包括超起平衡重22力矩半径减小至预设值前后的两个过程，其中，超起平衡重22力矩半径减小至预设值后的过程，即为前述平衡机构2a与悬停装置3的接合过程，其控制过程前面已经介绍，此处不再赘述。而在重物转移至目标就位地点之后至超起平衡重22力矩半径减小至预设值之前的过程，即是平衡机构2a与悬停装置3接合之前的重物下放过程，该过程中，可以控制超起平衡重22降幅(即减小超起平衡重22的力矩半径，或称减小超起平衡重22的幅度)和重物下放动作交替进行。并且，在降幅和下放动交替进行的过程中，可以以超起牵拉件27所受的作用力F1降至最小极限值Fmin或整机后翻稳定性达到规定极限作为每次重物下放动作的停止条件，并以超起牵拉件27所受的作用力F1升至最大极限值Fmax或负荷率升至最大值作为每次超起平衡重降幅动作的停止条件，即，在重物被转移至目标就位地点后，可以下放重物，并在超起牵拉件27所受的作用力F1降至最小极限值Fmin或整机后翻稳定性达到规定极限时，停止当次下放动 作，之后改为减小超起平衡重22的力矩半径，并在超起牵拉件27所受的作用力F1升至最大极限值Fmax或负荷率升至最大值时，停止当次降幅动作，然后改为再次下放重物，如此反复，直至超起平衡重22的力矩半径减小至预设值，满足悬停工况的要求。
接下来以图4-10所示的起重机10为例，对图13所示的起重机10的整个工作控制过程予以说明。
起重机10的整个工作控制过程包括先后进行的四个过程，分别为超起平衡重离地、重物离地、超起平衡重降幅及卸荷悬停过程。
其中，离地是指脱离支撑物的过程，并不仅限于离开地面4，而是也可以为离开支撑超起平衡重22和重物的其他结构。例如，超起平衡重离地，既可以为超起平衡重22离开地面4，也可以为超起平衡重22离开悬停装置3。再例如，重物离地，可以为重物离开地面4，也可以为重物离开其他对重物进行支撑的结构。
首先进行的为超起平衡重离地过程。在起重机10执行吊装任务的一开始，超起平衡重22位于悬停装置3或地面4上，所吊重物位于地面4或其他支撑结构上，此时，可以提升重物，并在超起牵拉件27所受的作用力F1升至最大极限值Fmax或负荷率升至最大值时，停止重物提升动作，之后，改为提升超起平衡重22，并在超起牵拉件27所受的作用力F1降至最小极限值Fmin或整机后翻稳定性达到规定极限时，停止超起平衡重提升动作，之后改为再次提升重物，如此反复，直至超起平衡重22离开悬停装置3或离开地面4。
接下来进行重物离地过程。在超起平衡重22离开悬停装置3或离开地面4之后，增大超起平衡重22的力矩半径，并在超起牵拉件27所受的作用力F1降至最小极限值Fmin或整机后翻稳定性达到规定极限时，停止超起平衡重增幅动作，之后改为提升重物，并在超起牵拉件27所受的作用力F1升至最大极限值Fmax或负荷率升至最大值时，停止重物提升动作，改为再次增大超起平衡重22的力矩半径，如此反复，直至重物离地。
之后进行超起平衡重降幅过程。重物离地后，将重物移至目标就位地点，并在将重物移至目标就位地点后，下放重物，且在超起牵拉件27所受的作用力F1降至最小极限值Fmin或整机后翻稳定性达到规定极限时，停止重物下放动作，改为减小超起平衡重22的力矩半径，并在超起牵拉件27所受的作用力F1升至最大极限值Fmax或负荷率升至最大值时，停止超起平衡重降幅动作，改为再次下放重物，如此反复，直至超起平衡重22的力矩半径被减小至预设值，满足悬停工况的要求。
最后进行卸荷悬停过程。在将超起平衡重22的力矩半径减小至预设值后，继续下放重物，并在超起牵拉件27所受的作用力F1降至最小极限值Fmin或整机后翻稳定性达到规定极限时，停止重物下放动作，改为下放超起平衡重22，且在超起牵拉件27所受的作用力F1升至最大极限值Fmax或负荷率升至最大值时，停止超起平衡重下放动作，改为再次下放重物，如此反复，直至定位轴25在挂钩32中挂接到位，超起平衡重22在悬停装置3上落实，且重物负荷完全卸去，使得起重机10处于空载状态，且超起平衡重22处于悬停状态，之后，起重机10可以实现空载带超起平衡重的行走和回转。
以上所述仅为本公开的示例性实施例，并不用以限制本公开，凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (18)

  1. 一种起重机(10)，其特征在于，包括：
    本体(1)，包括底盘(11)和转台(12)，所述转台(12)可转动地设置于所述底盘(11)上；
    超起装置(2)，包括超起臂(21)、悬挂牵拉件(26)和平衡机构(2a)，所述平衡机构(2a)包括超起平衡重(22)和推移装置(23)，所述超起臂(21)和所述推移装置(23)的第一端均与所述转台(12)连接，所述悬挂牵拉件(26)与所述超起臂(21)的第二端和所述超起平衡重(22)连接，所述推移装置(23)的第二端与所述超起平衡重(22)连接，并调节所述超起平衡重(22)距离所述转台(12)的回转中心的距离；和
    悬停装置(3)，用于在所述起重机(10)空载时，将所述超起平衡重(22)支承于地面(4)上方，所述悬停装置(3)的第一端与所述转台(12)连接，所述悬停装置(3)的第二端不与所述超起臂(21)连接。
  2. 根据权利要求1所述的起重机(10)，其特征在于，所述悬停装置(3)的第二端与所述平衡机构(2a)可分离地接合。
  3. 根据权利要求2所述的起重机(10)，其特征在于，所述悬停装置(3)的第二端与所述平衡机构(2a)可拆卸地连接。
  4. 根据权利要求3所述的起重机(10)，其特征在于，所述悬停装置(3)的第二端设有挂钩(32)，所述悬停装置(3)通过所述挂钩(32)与所述平衡机构(2a)可拆卸地连接。
  5. 根据权利要求4所述的起重机(10)，其特征在于，所述平衡机构(2a)包括提升油缸(24)和定位轴(25)，所述提升油缸(24)与所述超起平衡重(22)连接，并驱动所述超起平衡重(22)升降，所述定位轴(25)设置在所述提升油缸(24)上，并通过卡在所述挂钩(32)内，来实现所述平衡机构(2a)与所述悬停装置(3)的连接。
  6. 根据权利要求4或5所述的起重机(10)，其特征在于，所述挂钩(32)的开口朝向上方。
  7. 根据权利要求1-6任一所述的起重机(10)，其特征在于，所述悬停装置(3)包括支撑梁(31)、托盘(34)、连接杆(33)或悬停油缸。
  8. 根据权利要求1-7任一所述的起重机(10)，其特征在于，所述悬停装置(3)的第一端与所述转台(12)铰接，或者，所述悬停装置(3)的第一端焊接于所述转台(12)上。
  9. 根据权利要求1-8任一所述的起重机(10)，其特征在于，所述起重机(10)包括第一检测装置，所述第一检测装置检测所述悬挂牵拉件(26)和所述悬停装置(3)的受力，以确定所述超起平衡重(22)的重量；和/或，所述起重机(10)包括桅杆(14)、超起牵拉件(27)和第二检测装置，所述桅杆(14)的第一端与所述转台(12)连接，所述桅杆(14)的第二端通过所述超起牵拉件(27)与所述超起臂(21)连接，所述第二检测装置检测所述超起牵拉件(27)所承受的作用力。
  10. 根据权利要求9所述的起重机(10)，其特征在于，所述第一检测装置包括拉力传感器、压力传感器或油压传感器；和/或，所述第二检测装置包括拉力传感器。
  11. 一种如权利要求1-10任一所述的起重机(10)的控制方法，其特征在于，包括：
    控制所述推移装置(23)将所述超起平衡重(22)与所述转台(12)的回转中心之间的距离调小至预设值；
    控制所述平衡机构(2a)与所述悬停装置(3)接合，以利用所述悬停装置(3)将所述超起平衡重(22)支承于地面(24)上方，使得所述起重机(10)能够在空载状态下，带所述超起平衡重(22)回转或行走。
  12. 根据权利要求11所述的控制方法，其特征在于，所述控制平衡机构(2a)与悬停装置(3)接合包括：
    控制所述超起平衡重(22)落至所述悬停装置(3)上；或者，
    使所述悬停装置(3)的第二端与所述平衡机构(2a)连接。
  13. 根据权利要求11或12所述的控制方法，其特征在于，所述控制平衡机构(2a)与悬停装置(3)接合包括：
    控制所述超起平衡重(22)落至所述悬停装置(3)的托盘(34)上；或者，
    控制所述平衡机构(2a)的设置在提升油缸(24)上的定位轴(25)落至所述悬停装置(3)的挂钩(32)内；或者，
    将所述悬停装置(3)的连接杆(33)或悬停油缸的第二端连接至所述推移装置(23)上。
  14. 根据权利要求13所述的控制方法，其特征在于，所述控制平衡机构(2a)的设 置在提升油缸(24)上的定位轴(25)落至悬停装置(3)的挂钩(32)内包括：
    控制所述提升油缸(24)驱动所述超起平衡重(22)下降，使得所述定位轴(25)落至所述挂钩(32)内，与所述挂钩(32)卡接。
  15. 根据权利要求11-14任一所述的控制方法，其特征在于，在控制所述平衡机构(2a)与所述悬停装置(3)接合的过程中，控制所述超起平衡重(22)和所述起重机(10)所吊装的重物交替地下落，且以所述起重机(10)的超起牵拉件(27)所受的作用力F1达到最大极限值Fmax和所述起重机(10)的负荷率达到最大值这两个条件中最先到达的一个作为所述超起平衡重(22)每次下落过程的结束条件，并以所述超起牵拉件(27)所受作用力F1降至最小极限值Fmin和整机后翻稳定性达到规定极限这两个条件中最先到达的一个作为所吊重物每次下落过程的结束条件，直至所述平衡机构(2a)与所述悬停装置(3)接合，且所吊装的重物下落完毕，所述起重机(10)的负荷率为所述起重机(10)的实际载荷与所述起重机(10)的额定载荷之比。
  16. 根据权利要求11-15任一所述的控制方法，其特征在于，在控制所述推移装置(23)将所述超起平衡重(22)与所述转台(12)的回转中心之间的距离调小至预设值的过程中，控制所述超起平衡重(22)降幅和重物下放动作交替进行，且以所述超起牵拉件(27)所受作用力F1降至最小极限值Fmin和整机后翻稳定性达到规定极限这两个条件中最先到达的一个作为每次重物下放动作的停止条件，并以所述超起牵拉件(27)所受作用力F1升至最大极限值Fmax和负荷率升至最大值这两个条件中最先到达的一个作为每次超起平衡重降幅动作的停止条件，直至所述超起平衡重(22)与所述转台(12)的回转中心之间的距离减小至预设值，所述超起平衡重(22)降幅是指减小所述超起平衡重(22)与所述转台(12)的回转中心之间的距离。
  17. 根据权利要求11-16任一所述的控制方法，其特征在于，所述控制方法包括：
    在控制所述推移装置(23)将所述超起平衡重(22)与所述转台(12)的回转中心之间的距离调小至预设值之前，使所述超起平衡重(22)离地；
    其中，在使所述超起平衡重(22)离地的过程中，控制所述超起平衡重(22)和所吊重物交替地上升，且以所述超起牵拉件(27)所受作用力F1升至最大极限值Fmax和负荷率升至最大值这两个条件中最先到达的一个作为每次重物提升动作的停止条件，并以所述超起牵拉件(27)所受作用力F1降至最小极限值Fmin和整机后翻稳定性达到规定极限这两个条件中最先达到的一个作为每次超起平衡重提升动作的停止条件，直至所述超起平衡重(22)离地。
  18. 根据权利要求17所述的控制方法，其特征在于，所述控制方法包括：
    在控制所述推移装置(23)将所述超起平衡重(22)与所述转台(12)的回转中心之间的距离调小至预设值之前，以及使所述超起平衡重(22)离地之后，使所吊重物离地；
    其中，在使所吊重物离地的过程中，控制所述超起平衡重(22)增幅和重物提升动作交替进行，且以所述超起牵拉件(27)所受作用力F1降至最小极限值Fmin和整机后翻稳定性达到规定极限这两个条件中最先到达的一个作为每次超起平衡重(22)增幅动作的停止条件，且以所述超起牵拉件(27)所受作用力F1升至最大极限值Fmax和负荷率升至最大值这两个条件中最先到达的一个作为每次重物提升动作的停止条件，直至所吊重物离地，所述超起平衡重(22)增幅是指增大所述超起平衡重(22)与所述转台(12)的回转中心之间的距离。
PCT/CN2021/142388 2021-04-28 2021-12-29 起重机及其控制方法 WO2022227665A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE112021006745.1T DE112021006745T5 (de) 2021-04-28 2021-12-29 Kran und Verfahren zum Steuern eines Krans
US18/277,954 US20240124275A1 (en) 2021-04-28 2021-12-29 Crane and control method thereof
KR1020237029383A KR20230137421A (ko) 2021-04-28 2021-12-29 크레인 및 이의 제어 방법

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110465902.2A CN113148864B (zh) 2021-04-28 2021-04-28 起重机及其控制方法
CN202110465902.2 2021-04-28

Publications (1)

Publication Number Publication Date
WO2022227665A1 true WO2022227665A1 (zh) 2022-11-03

Family

ID=76871801

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/142388 WO2022227665A1 (zh) 2021-04-28 2021-12-29 起重机及其控制方法

Country Status (5)

Country Link
US (1) US20240124275A1 (zh)
KR (1) KR20230137421A (zh)
CN (1) CN113148864B (zh)
DE (1) DE112021006745T5 (zh)
WO (1) WO2022227665A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116281664A (zh) * 2023-03-06 2023-06-23 中海福陆重工有限公司 一种基于spmt的履带吊承载装置及控制系统

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113148864B (zh) * 2021-04-28 2024-05-17 徐工集团工程机械股份有限公司建设机械分公司 起重机及其控制方法
CN113148863B (zh) * 2021-04-28 2024-05-14 徐工集团工程机械股份有限公司建设机械分公司 起重机及其控制方法
CN113800415B (zh) * 2021-09-24 2023-03-24 徐工集团工程机械股份有限公司建设机械分公司 一种起重机卷扬起升系统的自适应控制方法
CN113742869B (zh) * 2021-09-28 2024-06-14 徐工集团工程机械股份有限公司建设机械分公司 一种起重机性能提升方法
CN114314416A (zh) * 2022-01-13 2022-04-12 广州市岳中数字科技有限公司 一种双层连杆升降机械

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202011002674U1 (de) * 2011-02-11 2012-05-14 Terex Demag Gmbh Handhabungsvorrichtung für eine Abspannstange
CN102718160A (zh) * 2012-07-03 2012-10-10 徐工集团工程机械股份有限公司 超起配重变幅系统以及起重机
CN103253602A (zh) * 2012-02-15 2013-08-21 徐工集团工程机械股份有限公司 可提升式自行履带车超起装置及起重机
CN203946817U (zh) * 2014-07-25 2014-11-19 辽宁抚挖重工机械股份有限公司 一种超大型履带起重机
CN106542445A (zh) * 2016-12-24 2017-03-29 中国冶集团有限公司 履带起重机可控式配重系统
DE102016110033A1 (de) * 2016-05-31 2017-11-30 Franz Bracht Kran-Vermietung Gmbh Hubvorrichtung
CN111217264A (zh) * 2020-03-13 2020-06-02 徐工集团工程机械股份有限公司建设机械分公司 起重机
CN211946021U (zh) * 2020-04-22 2020-11-17 浙江三一装备有限公司 一种超起配重的变幅移动系统及起重机
CN113148864A (zh) * 2021-04-28 2021-07-23 徐工集团工程机械股份有限公司建设机械分公司 起重机及其控制方法
CN113148863A (zh) * 2021-04-28 2021-07-23 徐工集团工程机械股份有限公司建设机械分公司 起重机及其控制方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7546928B2 (en) * 2006-10-27 2009-06-16 Manitowoc Crane Companies, Inc. Mobile lift crane with variable position counterweight
JP2008143627A (ja) * 2006-12-07 2008-06-26 Hitachi Sumitomo Heavy Industries Construction Crane Co Ltd クレーンの安全装置
CN101774514B (zh) * 2010-01-26 2012-02-22 昆山三一机械有限公司 履带起重机超起配重无级变幅机构及其操作方法
CN106115517B (zh) * 2016-08-30 2017-12-08 徐工集团工程机械股份有限公司 一种履带起重机超起平衡重自拆装变幅装置
CN112408218A (zh) * 2020-11-18 2021-02-26 徐工集团工程机械股份有限公司建设机械分公司 一种用于起重机的平衡重系统和起重机

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202011002674U1 (de) * 2011-02-11 2012-05-14 Terex Demag Gmbh Handhabungsvorrichtung für eine Abspannstange
CN103253602A (zh) * 2012-02-15 2013-08-21 徐工集团工程机械股份有限公司 可提升式自行履带车超起装置及起重机
CN102718160A (zh) * 2012-07-03 2012-10-10 徐工集团工程机械股份有限公司 超起配重变幅系统以及起重机
CN203946817U (zh) * 2014-07-25 2014-11-19 辽宁抚挖重工机械股份有限公司 一种超大型履带起重机
DE102016110033A1 (de) * 2016-05-31 2017-11-30 Franz Bracht Kran-Vermietung Gmbh Hubvorrichtung
CN106542445A (zh) * 2016-12-24 2017-03-29 中国冶集团有限公司 履带起重机可控式配重系统
CN111217264A (zh) * 2020-03-13 2020-06-02 徐工集团工程机械股份有限公司建设机械分公司 起重机
CN211946021U (zh) * 2020-04-22 2020-11-17 浙江三一装备有限公司 一种超起配重的变幅移动系统及起重机
CN113148864A (zh) * 2021-04-28 2021-07-23 徐工集团工程机械股份有限公司建设机械分公司 起重机及其控制方法
CN113148863A (zh) * 2021-04-28 2021-07-23 徐工集团工程机械股份有限公司建设机械分公司 起重机及其控制方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116281664A (zh) * 2023-03-06 2023-06-23 中海福陆重工有限公司 一种基于spmt的履带吊承载装置及控制系统
CN116281664B (zh) * 2023-03-06 2024-01-23 中海福陆重工有限公司 一种基于spmt的履带吊承载装置及控制系统

Also Published As

Publication number Publication date
DE112021006745T5 (de) 2023-10-12
CN113148864A (zh) 2021-07-23
KR20230137421A (ko) 2023-10-04
CN113148864B (zh) 2024-05-17
US20240124275A1 (en) 2024-04-18

Similar Documents

Publication Publication Date Title
WO2022227665A1 (zh) 起重机及其控制方法
JP5625377B2 (ja) 移動式クレーン
WO2021179668A1 (zh) 起重机
JP4347312B2 (ja) 長尺材搬送用吊り具装置
CN113148863B (zh) 起重机及其控制方法
CN117246905A (zh) 变幅小车及其控制方法
CN103420281B (zh) 起重机及其附属结构的拆装装置、拆卸方法及安装方法
WO2022027883A1 (zh) 一种悬臂式吊机
CN104627851B (zh) 一种装卸用起吊装置
CN110356958B (zh) 重心调节式吊架
JP2007217173A (ja) 重量物吊り装置
JP7322528B2 (ja) ジブ係留装置
JPH02182695A (ja) 伸縮ブーム先端へのジブ連結装置
US20140175040A1 (en) Construction Machinery
JPH04266397A (ja) ジブ付きクレーン
JP2012153518A (ja) 移動式クレーン
CN105645262B (zh) 缆索吊起重机的跑车结构
CN220950090U (zh) 一种电池抓取装置
CN217398316U (zh) 超起配重辅助支撑装置及起重装置
CN218145325U (zh) 一种吊装索具
CN212222266U (zh) 起重机
JP2640260B2 (ja) 伸縮ブーム先端へのジブ取付装置
CN218192450U (zh) 一种连铸出坯用升降机
CN212559092U (zh) 一种土木工程起重机用的勾取装置
RU2281242C1 (ru) Способ уравновешивания грузоподъемного стрелового крана и устройство для его осуществления

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21939124

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 18277954

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 112021006745

Country of ref document: DE

ENP Entry into the national phase

Ref document number: 20237029383

Country of ref document: KR

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 1020237029383

Country of ref document: KR

122 Ep: pct application non-entry in european phase

Ref document number: 21939124

Country of ref document: EP

Kind code of ref document: A1