阅读说明：本技术 一种配重装配方法、装置及工程机械 (Counterweight assembling method and device and engineering machinery ) 是由 戴敏 王圣磊 邓连喜 李松云 于 2019-10-17 设计创作，主要内容包括：本发明提供了一种配重装配方法、装置及工程机械,涉及工程机械领域。在本发明中,配重装配方法包括：获取回转台上的配重油缸相对于车架上的预设配重安装位置的回转角度；依据回转角度控制回转台回转以及控制配重油缸伸缩,以使配重油缸跟随回转台回转至预设配重安装位置的上方,并且使配重油缸将配重安装至回转台上。在本发明中,通过获取的回转台上的配重油缸相对于预设配重安装位置的回转角度控制回转台转动,从而使配重油缸转动至预设安装位置的上方并将配重安装至回转台上。该过程自动执行,提高了配重安装过程中的效率。(The invention provides a counterweight assembling method and device and engineering machinery, and relates to the field of engineering machinery. In the present invention, a counterweight assembling method includes: acquiring a rotation angle of a counterweight oil cylinder on the rotary table relative to a preset counterweight mounting position on the frame; and controlling the revolving platform to revolve and controlling the counterweight oil cylinder to stretch according to the revolving angle so as to enable the counterweight oil cylinder to revolve to the position above the preset counterweight mounting position along with the revolving platform, and enabling the counterweight oil cylinder to mount the counterweight on the revolving platform. In the invention, the rotary table is controlled to rotate through the acquired rotation angle of the counterweight oil cylinder on the rotary table relative to the preset counterweight installation position, so that the counterweight oil cylinder rotates to the position above the preset installation position and the counterweight is installed on the rotary table. The process is automatically executed, and the efficiency in the counterweight installation process is improved.)

1. A counterweight assembling method for mounting a counterweight from a frame of a construction machine to a turn table of the construction machine, comprising:

acquiring a rotation angle of a counterweight oil cylinder on the rotary table relative to a preset counterweight mounting position on the frame;

and controlling the revolving platform to revolve and the counterweight oil cylinder to stretch according to the revolving angle so as to enable the counterweight oil cylinder to follow the revolving platform to revolve to the position above the preset counterweight installation position and enable the counterweight oil cylinder to install the counterweight on the revolving platform.

2. The counterweight assembling method according to claim 1, wherein said step of controlling the rotation of said turntable and the extension and contraction of said counterweight cylinder in accordance with said rotation angle comprises:

controlling the rotary table to rotate by a first angle to enable the counterweight oil cylinder to rotate to a preset position;

and controlling the rotary table to rotate by a second angle, and controlling the counterweight oil cylinder to stretch and retract in the process that the counterweight oil cylinder follows the rotary table to rotate from the preset position to the position above the preset counterweight installation position, so that the counterweight oil cylinder installs the counterweight on the rotary table, wherein the first angle is the difference value between the rotation angle and the second angle.

3. The counterweight assembling method according to claim 2, wherein said step of controlling said turret to swing said second angle and controlling said counterweight cylinder to extend and retract while said counterweight cylinder follows said turret to swing from said preset position to above said preset counterweight mounting position comprises:

controlling the extension of the counterweight oil cylinder;

controlling the rotary table to rotate to enable the counterweight oil cylinder to be clamped into the counterweight;

and controlling the counterweight oil cylinder to retract, so that the counterweight is gradually separated from the counterweight mounting position and is mounted on the rotary table.

4. The counterweight assembling method according to claim 2, wherein said step of controlling said turntable to rotate by a first angle to rotate said counterweight cylinder to a predetermined position comprises:

acquiring a real-time angle of the counterweight oil cylinder relative to the preset counterweight mounting position;

comparing the real-time angle with a first set threshold;

and when the real-time angle is larger than the first set threshold value, controlling the rotary table to rotate at a preset rotating speed, so that the counterweight oil cylinder moves towards the direction close to the counterweight mounting position, and the real-time angle is gradually reduced to a second set threshold value, wherein the first set threshold value is larger than the second set threshold value.

5. The counterweight assembling method according to claim 2, wherein said step of controlling said turret to rotate by a first angle to rotate said counterweight cylinder to a predetermined position further comprises:

acquiring a real-time angle of the counterweight oil cylinder relative to the preset counterweight mounting position;

when the real-time angle is smaller than a first set threshold, comparing the real-time angle with a second set threshold, wherein the first set threshold is larger than the second set threshold;

and when the real-time angle is larger than a second set threshold value, adjusting the rotating speed according to the rotating speed of the rotating table and the real-time angle.

6. The counterweight mounting method according to claim 5, wherein said step of adjusting said slewing speed in accordance with said slewing speed of said slewing table and said first angle when said real-time angle is greater than a second set threshold comprises:

comparing the rotating speed with a target speed corresponding to the real-time angle, and controlling the rotating speed of the rotating table to be reduced when the rotating speed is greater than the target speed;

controlling the slewing speed of the slewing table to increase when the slewing speed is less than the target speed.

7. The counterweight assembling method according to claim 2, wherein said step of controlling said turret to rotate by a first angle to rotate said counterweight cylinder to a predetermined position further comprises:

acquiring a real-time angle of the counterweight oil cylinder relative to the preset counterweight mounting position;

and when the real-time angle is smaller than a second set threshold value, the counterweight oil cylinder is shown to move to the preset position.

8. The counterweight mounting method according to claim 1, wherein before the step of controlling the turntable to rotate closer to the counterweight mounting position in accordance with the detected rotation angle of the counterweight cylinder with respect to the mounting position, the counterweight mounting method further comprises:

acquiring real-time state information of a main arm, wherein the real-time state information comprises the real-time length of the main arm and the real-time angle of the main arm;

when the real-time state information is within the allowable range, controlling the rotary table to rotate towards the position close to the counterweight installation position;

and when the real-time state information is not in the allowable range, sending an alarm signal and controlling the rotary table to stop moving.

9. A counterweight attaching apparatus for attaching a counterweight from a frame of a construction machine to a turn table of the construction machine, comprising:

the rotating module is used for acquiring a rotating angle of the counterweight oil cylinder on the rotating table relative to a preset counterweight mounting position on the frame;

and the mounting module is used for controlling the revolving platform to revolve and controlling the counterweight oil cylinder to stretch out and draw back according to the revolving angle so as to enable the counterweight oil cylinder to follow the revolving platform to revolve to the position above the preset counterweight mounting position and enable the counterweight oil cylinder to mount the counterweight on the revolving platform.

10. A work machine, comprising: the counterweight assembly method comprises a frame, a rotary table, a counterweight oil cylinder and a controller, wherein the rotary table is rotatably installed on the frame, the counterweight oil cylinder is installed on the rotary table, a counterweight assembly control program is stored on the controller, and when the counterweight assembly control program is executed, the counterweight assembly method according to any one of claims 1 to 8 is realized.

Technical Field

The invention relates to the field of engineering machinery, in particular to a counterweight assembling method and device and engineering machinery.

Background

Along with the progress of modern industrialization, the size is larger and larger, and heavy components and devices need engineering machinery to be installed, disassembled, transported and the like. The counterweight is one of core components of large-tonnage engineering machinery, plays a role in balancing objects with heavy weight and long arm sections or under a far-amplitude working condition, and is large in size and heavy in weight. In order to facilitate the transition of equipment and reduce the transportation cost, the engineering mechanical equipment with larger tonnage is generally not provided with a counterweight during the transition. The counterweight is hoisted onto the vehicle from the transfer vehicle or the ground only when the construction is ready, and the counterweight is assembled on the crane equipment and is connected with the crane into a whole by utilizing the self hoisting capacity and a special mechanism.

In the prior art, the whole assembly process can be completed only by an operator who observes and commands a commander in the process of installing the balance weight on the rotary table from the frame, so that the working efficiency is low and the automation degree is poor.

Disclosure of Invention

The invention aims to provide a counterweight assembling method which can improve counterweight assembling efficiency.

The invention aims to provide a counterweight assembling device which can improve counterweight assembling efficiency.

The invention aims to provide an engineering machine, which can improve the assembly efficiency of a counterweight in the assembly process.

The invention provides a technical scheme that:

a counterweight assembling method for mounting a counterweight from a frame of a construction machine to a turn table of the construction machine, comprising:

acquiring a rotation angle of a counterweight oil cylinder on the rotary table relative to a preset counterweight mounting position on the frame;

and controlling the revolving platform to revolve and the counterweight oil cylinder to stretch according to the revolving angle so as to enable the counterweight oil cylinder to follow the revolving platform to revolve to the position above the preset counterweight installation position and enable the counterweight oil cylinder to install the counterweight on the revolving platform.

Further, in a preferred embodiment of the present invention, the step of controlling the revolving platform to revolve and the counterweight cylinder to extend and retract according to the revolving angle includes:

controlling the rotary table to rotate by the first angle to enable the counterweight oil cylinder to rotate to a preset position, wherein the first angle is the difference value between the rotation angle and a second angle;

and controlling the rotary table to rotate by the second angle, and controlling the counterweight oil cylinder to stretch and retract in the process that the counterweight oil cylinder follows the rotary table to rotate from the preset position to the position above the preset counterweight installation position, so that the counterweight oil cylinder installs the counterweight on the rotary table.

Further, in a preferred embodiment of the present invention, the step of controlling the revolving platform to revolve by a second angle, and controlling the counterweight cylinder to extend and retract in a process of the counterweight cylinder following the revolving platform to revolve from the preset position to above the preset counterweight installation position includes:

controlling the extension of the counterweight oil cylinder;

controlling the rotary table to rotate to enable the counterweight oil cylinder to be clamped into the counterweight;

and controlling the counterweight oil cylinder to retract, so that the counterweight is gradually separated from the counterweight mounting position and is mounted on the rotary table.

Further, in a preferred embodiment of the present invention, the step of controlling the revolving platform to revolve by a first angle to rotate the counterweight cylinder to a preset position includes:

acquiring a real-time angle of the counterweight oil cylinder relative to the preset counterweight mounting position;

comparing the real-time angle with a first set threshold;

and when the real-time angle is larger than the first set threshold value, controlling the rotary table to rotate at a preset rotating speed, so that the counterweight oil cylinder moves towards the direction close to the counterweight mounting position, and the rotary angle is gradually reduced to a second set threshold value, wherein the first set threshold value is larger than the second set threshold value.

Further, in a preferred embodiment of the present invention, the step of controlling the revolving platform to revolve by a first angle to rotate the counterweight cylinder to a preset position further includes:

acquiring a real-time angle of the counterweight oil cylinder relative to the preset counterweight mounting position;

when the real-time angle is smaller than a first set threshold, comparing the real-time angle with a second set threshold, wherein the first set threshold is larger than the second set threshold;

and when the real-time angle is larger than a second set threshold value, adjusting the rotating speed according to the rotating speed of the rotating table and the real-time angle.

Further, in a preferred embodiment of the present invention, when the first angle is greater than a second set threshold, the step of adjusting the slewing speed according to the slewing speed of the slewing table and the first angle includes:

comparing the rotating speed with a target speed corresponding to the real-time angle, and controlling the rotating speed of the rotating table to be reduced when the rotating speed is greater than the target speed;

controlling the slewing speed of the slewing table to increase when the slewing speed is less than the target speed.

Further, in a preferred embodiment of the present invention, the step of controlling the revolving platform to revolve by a first angle to rotate the counterweight cylinder to a preset position further includes:

and when the real-time angle is smaller than the second set threshold value, the counterweight oil cylinder is shown to move to the preset position.

Further, in a preferred embodiment of the present invention, before the step of controlling the revolving platform to rotate closer to the counterweight mounting position according to the detected revolving angle of the counterweight cylinder relative to the mounting position, the counterweight assembling method further includes:

acquiring real-time state information of a main arm, wherein the real-time state information comprises the real-time length of the main arm and the real-time angle of the main arm;

when the real-time state information is within the allowable range, controlling the rotary table to rotate towards the position close to the counterweight installation position;

and when the real-time state information is not in the allowable range, sending an alarm signal and controlling the rotary table to stop moving.

A counterweight mounting apparatus for mounting a counterweight from a frame to a turntable, comprising:

the rotating module is used for acquiring a rotating angle of the counterweight oil cylinder on the rotating table relative to a preset counterweight mounting position on the frame;

and the mounting module is used for controlling the revolving platform to revolve and controlling the counterweight oil cylinder to stretch out and draw back according to the revolving angle so as to enable the counterweight oil cylinder to follow the revolving platform to revolve to the position above the preset counterweight mounting position and enable the counterweight oil cylinder to mount the counterweight on the revolving platform.

A construction machine includes: the counterweight assembling method comprises a frame, a rotary table, a counterweight oil cylinder and a controller, wherein the rotary table is rotatably installed on the frame, the counterweight oil cylinder is installed on the rotary table, and the counterweight assembling method is realized when a counterweight assembling control program is executed.

The counterweight assembling method, the counterweight assembling device and the engineering machinery provided by the invention have the beneficial effects that: in the invention, the rotary table is controlled to rotate through the acquired rotation angle of the counterweight oil cylinder on the rotary table relative to the preset counterweight installation position, so that the counterweight oil cylinder rotates to the position above the preset installation position and the counterweight is installed on the rotary table. The process is automatically executed, and the efficiency in the counterweight installation process is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a flowchart of a counterweight assembling method according to an embodiment of the present invention.

Fig. 2 is a flowchart illustrating sub-steps of step S100 of a counterweight assembling method according to an embodiment of the present invention.

Fig. 3 is a flowchart illustrating sub-steps of step S300 of a counterweight assembling method according to an embodiment of the present invention.

Fig. 4 is a flowchart illustrating sub-steps of step S310 of a counterweight assembling method according to an embodiment of the present invention.

Fig. 5 is a flowchart illustrating the sub-steps of step S318 of the counterweight assembling method according to an embodiment of the present invention.

Fig. 6 is a flowchart illustrating the sub-steps of step S320 of the counterweight assembling method according to an embodiment of the present invention.

Fig. 7 is a block diagram illustrating a counterweight mounting apparatus according to a second embodiment of the present invention.

Fig. 8 is a block diagram illustrating the main arm module of the counterweight mounting apparatus according to the second embodiment of the present invention.

Fig. 9 is a block diagram of an installation module of a counterweight mounting apparatus according to a second embodiment of the present invention.

Fig. 10 is a block diagram illustrating a first angle module of a mounting module of a counterweight mounting apparatus according to a second embodiment of the present invention.

Fig. 11 is a block diagram illustrating a speed control module of a first angle module of a mounting module of a counterweight mounting apparatus according to a second embodiment of the present invention.

Fig. 12 is a block diagram illustrating a second angle module of the mounting module of the counterweight mounting apparatus according to the second embodiment of the present invention.

Icon: 10-counterweight mounting means; 100-a main arm module; 110-range comparison module; 120-a first range module; 130-a second range module; 200-a rotation module; 300-installing a module; 310-a first angle module; 311-an acquisition module; 312-a first threshold comparison module; 314-proximity module; 316-second threshold comparison module; 318-speed control module; 3182-target module; 3184-a first speed module; 3186-a second speed module; 319-Preset Module; 320-a second angle module; 322-an elongated module; 324-a snap-in module; 326-retraction module.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.