CN108706481B - Suspension hook hovering control method and device and frequency converter - Google Patents
Suspension hook hovering control method and device and frequency converter Download PDFInfo
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- CN108706481B CN108706481B CN201810626374.2A CN201810626374A CN108706481B CN 108706481 B CN108706481 B CN 108706481B CN 201810626374 A CN201810626374 A CN 201810626374A CN 108706481 B CN108706481 B CN 108706481B
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- 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
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- 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
- B66C13/22—Control systems or devices for electric drives
- B66C13/30—Circuits for braking, traversing, or slewing motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/084—Protection measures
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a suspension hook hovering control method, a suspension hook hovering control device and a frequency converter, wherein the method comprises the following steps: when the frequency converter stops outputting a driving signal to the lifting motor, detecting whether the lifting motor stops running or not; if not, outputting a reverse torque to the lifting motor to inhibit the rotation of the lifting motor and control the suspension hook to suspend. The mode can control the lifting hook to hover under the condition that the mechanical brake of the tower crane fails, and the safety and the reliability of the tower crane are improved.
Description
Technical Field
The invention relates to the technical field of tower cranes, in particular to a suspension hook hovering control method and device and a frequency converter.
Background
With the rapid development of construction technology, the requirements of building construction on the technical performance of the tower crane are higher and higher, and especially the requirements on the safety performance of the tower crane are higher. Due to the continuous occurrence of safety accidents of the tower crane on the construction site, the safety performance of the tower crane is more and more emphasized. The product of the tower type starter is generally provided with a brake device on a lifting motor; one of the methods is to install a mechanical braking device in a transmission system, but the mechanical performance is reduced due to the frequent reciprocating motion of the braking device, so that the braking failure is easy to occur, and the safety and the reliability are poor; in another mode, a hydraulic braking device is installed on a hoisting motor winding drum, but the hydraulic braking mode is higher in matching cost, only used on high-end products or products with special requirements, and poor in application universality.
Aiming at the problem that the safety and the reliability of the suspension hook hovering control mode of the tower crane are poor, an effective solution is not provided yet.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for controlling suspension hook hovering, and a frequency converter, so as to improve the safety and reliability of a tower crane.
In a first aspect, an embodiment of the present invention provides a suspension hook hovering control method, which is applied to a frequency converter of a tower crane; the method comprises the following steps: when the frequency converter stops outputting a driving signal to the lifting motor, detecting whether the lifting motor stops running or not; if not, outputting a reverse torque to the lifting motor to inhibit the rotation of the lifting motor and control the suspension hook to suspend.
Further, before the step of detecting whether the hoisting motor stops operating, the method further includes: and sending a starting signal to a braking device of the lifting motor so that the braking device brakes the lifting motor.
Further, an encoder is arranged on a motor shaft of the lifting motor; the step of detecting whether the lifting motor stops running comprises the following steps: and judging whether the lifting motor stops running or not according to the pulse signal output by the encoder.
Further, the step of determining whether the lifting motor stops operating according to the pulse signal output by the encoder includes: judging whether the variation of the pulse signal output by the encoder exceeds a set variation threshold value or not; if so, determining that the lifting motor does not stop running; and if not, determining that the lifting motor stops running.
Further, the step of outputting the reverse torque to the hoisting motor includes: outputting reverse torque of a set number of times to a lifting motor according to a set time interval; after outputting the reverse torque each time, detecting whether the lifting motor stops running or not; and if the lifting motor does not stop running before the last reverse torque is output, outputting the last reverse torque to stop running of the lifting motor. Further, the method further comprises: and if the number of times of outputting the reverse torque reaches a set number threshold, generating and outputting a hook slipping alarm signal.
In a second aspect, an embodiment of the present invention provides a suspension hook hovering control apparatus, where the apparatus is disposed on a frequency converter of a tower crane; the above-mentioned device includes: the detection module is used for detecting whether the lifting motor stops running or not when the frequency converter stops outputting the driving signal to the lifting motor; and the control module is used for outputting reverse torque to the lifting motor when the lifting motor does not stop running so as to inhibit the rotation of the lifting motor and control the suspension hook to suspend.
Further, the above apparatus further comprises: and the signal sending module is used for sending a starting signal to a braking device of the lifting motor so as to enable the braking device to brake the lifting motor.
Further, an encoder is arranged on a motor shaft of the lifting motor; the detection module is also used for judging whether the lifting motor stops running or not according to the pulse signal output by the encoder.
In a third aspect, an embodiment of the present invention provides a frequency converter, where the frequency converter is disposed on a tower crane; the lifting hook hovering control device of the second aspect is arranged in the frequency converter.
The embodiment of the invention has the following beneficial effects:
the invention provides a suspension hook hovering control method, a suspension hook hovering control device and a frequency converter, wherein when the frequency converter stops outputting a driving signal to a lifting motor, whether the lifting motor stops running or not is detected; and if the lifting motor does not stop running, outputting reverse torque to the lifting motor to inhibit the rotation of the lifting motor and control the suspension hook to suspend. The mode can control the lifting hook to hover under the condition that the mechanical brake of the tower crane fails, and the safety and the reliability of the tower crane are improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention as set forth above.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of an application scenario of a suspension hook hovering control method according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for controlling suspension hook hovering according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method for controlling hook hovering provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a suspension hook hovering control apparatus according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present 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.
When the hoisting mechanism does ascending or descending action, the mechanical brake device in the tower crane is automatically opened, and when the action is stopped, the brake device (also called as a brake) automatically starts braking to prevent the hook from falling. The brake in the mode has the problem that the lifting hook falls when the mechanical performance of the brake is reduced due to frequent reciprocating motion or the braking force is not timely replaced or adjusted after a brake pad is worn. And the second mode is that a hydraulic brake device is arranged on a winding drum of the hoisting mechanism, and when the mechanical brake device fails, the hydraulic brake device can be automatically started to brake the winding drum, so that the lifting hook is prevented from falling. However, due to the high cost of the hydraulic brake device, the hydraulic brake device is generally only used on high-end products or products with special requirements.
Based on the above, the embodiment of the invention provides a method and a device for controlling suspension hook hovering, and a frequency converter; the technology can be applied to the suspension hook hovering control of a tower crane, a bridge crane or other cranes.
For the convenience of understanding the present embodiment, an application scenario of the hook hovering control method is described first, as shown in fig. 1. The system comprises a frequency converter, an encoder, a lifting motor, a motor brake, a speed reducer and a winding drum; the input end of the encoder is connected with a lifting motor; the pulse output end of the encoder is connected with the input end of the frequency converter; the frequency converter is respectively connected with the lifting motor and the motor brake; the speed reducer is respectively connected with a lifting motor and a winding drum.
The speed changer is used for controlling the torque of the lifting motor; the lifting motor drives the heavy object to move up and down according to the output torque; in a braking state, an encoder continuously monitors whether a lifting motor stops rotating or not, and sends the detected pulse quantity to a frequency converter; the frequency converter can make corresponding action according to the output pulse quantity. The speed reducer is one of the main parts of the running mechanism of the tower crane, and mainly functions to convert the high speed of the running of the motor into the speed actually required by each mechanism of the tower crane and obtain larger torque, so as to stably lift a heavy object. The reel is a part for winding the steel wire rope in the crane, the reel material can be generally cast iron, and can be manufactured by coiling, welding and manufacturing cast steel or steel plates when in special needs.
Based on the application scenario, referring to a flowchart of a hook hovering control method shown in fig. 2, the method is applied to a frequency converter of the tower crane; the method comprises the following steps:
and S202, when the frequency converter stops outputting the driving signal to the lifting motor, detecting whether the lifting motor stops running or not.
When the frequency converter stops outputting a driving signal to the lifting motor, the motor brake is closed, and simultaneously, a braking force is output to keep a rotating shaft of the lifting motor static, so that the lifting hook keeps static; if the braking force of the motor brake is insufficient or the brake fails, the motor shaft of the lifting motor still rotates.
And step S204, if not, outputting reverse torque to the lifting motor to restrain the lifting motor from rotating and control the lifting hook to hover.
The reverse torque may also be referred to as reverse torque; after the frequency converter outputs a stop signal, if the lifting motor shaft rotates, the frequency converter can automatically run at zero speed according to the pulse signal output by the encoder and output a reverse rotating shaft to the lifting motor so as to inhibit the rotation of the lifting motor shaft and enable the lifting hook to hover, and finally, the purpose of hovering at zero speed is achieved, so that a heavy object stably stops in the air, and meanwhile, an alarm signal can be output.
The invention provides a suspension hook hovering control method, which is characterized in that when a frequency converter stops outputting a driving signal to a lifting motor, whether the lifting motor stops running or not is detected; and if the lifting motor does not stop running, outputting reverse torque to the lifting motor to inhibit the rotation of the lifting motor and control the suspension hook to suspend. The mode can control the lifting hook to hover under the condition that the mechanical brake of the tower crane fails, and the safety and the reliability of the tower crane are improved.
The embodiment also provides another hook hovering control method, which is implemented on the basis of the method shown in the above fig. 2, and is applied to a frequency converter of a tower crane, wherein a motor shaft of a hoisting motor of the tower crane is provided with an encoder; the running state of the motor is detected by using the encoder, and the lifting motor is driven by using the frequency converter to realize the suspension hook hovering control, as shown in fig. 3, the specific implementation steps are as follows:
step S302, the frequency converter stops outputting a driving signal to the lifting motor;
and step S304, sending a starting signal to a braking device of the lifting motor so that the braking device brakes the lifting motor.
Firstly, a software program corresponding to the suspension hook hovering control method is recorded into a frequency converter, then the frequency converter drives a lifting motor to output torque, the lifting motor drives an object with a certain weight (for example, a heavy object with a load of one ton) to leave the ground after obtaining the signal, and the heavy object is increased to a preset height (for example, the height from the ground can be 1 meter or 3 meters and the like) according to the signal. When the heavy object is required to be suspended at a preset height, the frequency converter stops outputting a driving signal to the lifting motor, and at the moment, the braking device of the lifting motor outputs a braking force, so that the lifting motor keeps a static state, and the lifting hook and the heavy object are suspended in the air.
Generally, after a brake starts to brake a lifting motor, a frequency converter can judge whether the lifting motor stops running or not according to a pulse signal output by an encoder; the method can be realized by the following steps:
step S306, judging whether the variation of the pulse signal output by the encoder exceeds a set variation threshold; if not, determining that the lifting motor stops running, and continuing to execute the step S306; if yes, go to step S308;
in a program recorded by the frequency converter, a threshold value of pulse variation is preset, and if the pulse increment output by the encoder is smaller than the threshold value, the pulse increment of the encoder is monitored again to ensure that the lifting motor is stopped; if the pulse increment output by the encoder is larger than or equal to the threshold value, the brake is judged to be insufficient or the brake fails, the frequency converter automatically runs at zero speed, and reverse torque is output so as to inhibit the rotation of a rotating shaft of the lifting motor.
If the lifting motor does not stop running, outputting multiple reverse torques to the lifting motor according to a set time interval; for example, outputting a reverse torque to the lifting motor every 10ms until the lifting motor is detected to stop running; the output reverse torque can be the same, can grow gradually, diminish gradually, also can be according to the current rotational speed of lifting motor adjustment output reverse torque at every turn, and reverse torque's size can set up in a flexible way promptly.
When the tower crane lifts a heavy object, the heavy object sinks due to inertia or contracting brake abrasion when the tower crane stops, so that multiple reverse torques are output to test whether the heavy object naturally sinks, if the lifting motor still rotates, the brake is determined to be in fault, and the reverse torque is output to the lifting motor again to prevent the heavy object from continuously sinking.
Step S308, determining that the lifting motor does not stop running; outputting reverse torque of a set number of times to a lifting motor according to a set time interval;
under the condition that the brake is insufficient or the brake is failed, the rotating shaft of the lifting motor cannot be static during braking, the heavy object on the lifting hook can fall, in the process, the encoder can continuously send pulse signals to the frequency converter, the frequency converter can make three-time judgment according to the pulse signals, and the frequency converter continuously outputs three-time reverse frequency (equivalent to output reverse torque) within a set time interval (for example, 3 seconds) so as to inhibit the rotating shaft of the lifting motor from rotating.
Step S310, after outputting each reverse torque, detecting whether a lifting motor stops running or not; if not, go to step S312; if yes, ending;
step S312, determining whether the last reverse torque is to be output; if yes, go to step S314; if not, go to step S308;
step S314, outputting the last reverse torque to stop the operation of the lifting motor;
step S316, after the lifting motor stops running, judging whether the frequency of outputting the reverse torque reaches a set frequency threshold value, if so, executing step S318; if not, the process is ended.
And step S318, generating and outputting a hook slipping alarm signal.
The frequency converter outputs reverse torque every time, the encoder detects whether the lifting motor stops running or not, if the lifting motor does not stop running, the reverse torque needs to be input again, if the lifting motor does not stop after reaching the preset output reverse torque frequency, when the reverse torque is output for the last time, a buzzer on the linkage table is alarmed to output a hook slipping alarm signal, and the frequency converter outputs the reverse torque to stop running of the motor.
The weight of a lifting hook hoisting object is consistent with the rated lifting capacity of the tower crane, the distance between the lifting object and the ground is increased by 1 meter, then the brake of the hoisting mechanism fails, the weight freely falls, and after the weight falls for a certain distance, if the weight is hovered in the air instead of directly falling to the ground, the buzzer of the linkage table and the frequency converter can give an alarm. After the mechanism slips the hook and reports to the police, the lifting hook can not rise, only can descend, descend the heavy object in the safe place, then repair the contracting brake system of the hoisting mechanism.
The invention provides a suspension hook hovering control method, which is characterized in that a set of suspension hook hovering systems are firstly recorded into a frequency converter to realize program control, a lifting mechanism, an encoder and the frequency converter form a closed-loop control loop by utilizing the principle that the frequency converter drives a lifting motor, the frequency converter identifies the actions of the lifting motor acquired by the encoder, and then the actions are reacted and command information is sent, so that the suspension hook hovering control method is accurate in control, safe and reliable. The method solves the problem that the mechanical property of the hoisting mechanical brake fails due to instability caused by external reasons or long-term use, reduces the number of additional control devices added on the mechanism, is economical and applicable, is green and environment-friendly, and simultaneously improves the safety of the tower crane.
Corresponding to the above method embodiment, referring to the schematic structural diagram of the suspension hook hovering control device shown in fig. 4, the device is disposed on a frequency converter of a tower crane, and the device includes:
the detection module 40 is used for detecting whether the lifting motor stops running or not when the frequency converter stops outputting the driving signal to the lifting motor;
and the control module 41 is used for outputting reverse torque to the lifting motor when the lifting motor does not stop running so as to inhibit the rotation of the lifting motor and control the suspension hook to suspend.
The above-mentioned device still includes: and the signal sending module is used for sending a starting signal to a braking device of the lifting motor so as to enable the braking device to brake the lifting motor.
An encoder is arranged on a motor shaft of the lifting motor; the detection module is also used for judging whether the lifting motor stops running or not according to the pulse signal output by the encoder.
The suspension hook hovering control device provided by the embodiment of the invention has the same technical characteristics as the suspension hook hovering control method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The embodiment also provides a frequency converter corresponding to the method embodiment. The frequency converter is arranged on the tower crane, and the hook hovering device is arranged in the frequency converter.
According to the lifting hook hovering control method and device and the frequency converter, when the frequency converter stops outputting, the rotating shaft of the lifting motor is kept static under the action of the braking force of the brake, and the encoder on the shaft of the lifting motor is kept still. The frequency converter reads the pulse variable quantity of the encoder in real time, and if the pulse variable quantity is 0, the brake is normal; when the pulse variation reaches a certain threshold value, the motor shaft is considered to rotate, the brake force of the brake is inferred to be insufficient or the brake fails, at the moment, the frequency converter automatically runs at zero speed, certain torque is output to restrain the rotation of the motor, and finally the purpose of zero-speed hovering is achieved, so that the lifting hook is stabilized in the air. The method solves the problem that the mechanical property of the hoisting mechanical brake fails due to external reasons or unstable mechanical property caused by long-term use, reduces the number of additional control devices added on the mechanism, and is economical, practical, green and environment-friendly.
The method, the apparatus, and the computer program product for controlling hovering over a hook according to the embodiments of the present invention include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and/or the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A suspension hook hovering control method is characterized in that the method is applied to a frequency converter of a tower crane; the method comprises the following steps:
when the frequency converter stops outputting a driving signal to a lifting motor, detecting whether the lifting motor stops running or not;
if not, outputting a reverse torque to the lifting motor to inhibit the lifting motor from rotating and control the lifting hook to hover;
the step of outputting a reverse torque to the hoisting motor includes:
outputting reverse torque of a set number of times to the lifting motor according to a set time interval; the output reverse torque of each time is the same in size, gradually increased and gradually decreased or the output reverse torque of each time is adjusted according to the rotating speed of the current hoisting motor;
after outputting the reverse torque each time, detecting whether the lifting motor stops running or not;
outputting the last reverse torque to stop the operation of the hoisting motor if the hoisting motor does not stop the operation before outputting the last reverse torque;
an encoder is arranged on a motor shaft of the lifting motor; the step of detecting whether the lifting motor stops running comprises the following steps: judging whether the lifting motor stops running or not according to the pulse signal output by the encoder;
the step of judging whether the lifting motor stops running or not according to the pulse signal output by the encoder comprises the following steps: judging whether the variation of the pulse signal output by the encoder exceeds a set variation threshold value or not; if so, determining that the lifting motor does not stop running; if not, determining that the lifting motor stops running;
the method further comprises the following steps: and if the number of times of outputting the reverse torque reaches a set number threshold, generating and outputting a hook slipping alarm signal.
2. The method of claim 1, wherein prior to the step of detecting whether the lift motor is deactivated, the method further comprises: and sending a starting signal to a braking device of the lifting motor so that the braking device brakes the lifting motor.
3. A suspension hook hovering control device is characterized in that the device is arranged on a frequency converter of a tower crane; the device comprises:
the detection module is used for detecting whether the lifting motor stops running or not when the frequency converter stops outputting a driving signal to the lifting motor;
the control module is used for outputting reverse torque to the lifting motor to restrain the lifting motor from rotating and control the lifting hook to hover if the lifting motor does not stop running;
the control module is further configured to: outputting reverse torque of a set number of times to the lifting motor according to a set time interval; the output reverse torque of each time is the same in size, gradually increased and gradually decreased or the output reverse torque of each time is adjusted according to the rotating speed of the current hoisting motor; after outputting the reverse torque each time, detecting whether the lifting motor stops running or not; outputting the last reverse torque to stop the operation of the hoisting motor if the hoisting motor does not stop the operation before outputting the last reverse torque;
an encoder is arranged on a motor shaft of the lifting motor; the detection module is further configured to: judging whether the lifting motor stops running or not according to the pulse signal output by the encoder;
the detection module is further configured to: judging whether the variation of the pulse signal output by the encoder exceeds a set variation threshold value or not; if so, determining that the lifting motor does not stop running; if not, determining that the lifting motor stops running;
the device also includes an alarm module for: and if the number of times of outputting the reverse torque reaches a set number threshold, generating and outputting a hook slipping alarm signal.
4. The apparatus of claim 3, further comprising: and the signal sending module is used for sending a starting signal to a braking device of the lifting motor so that the braking device can brake the lifting motor.
5. The frequency converter is characterized in that the frequency converter is arranged on a tower crane; the apparatus of any one of claims 3-4 disposed in the frequency converter.
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| CN111137797B (en) * | 2019-12-31 | 2021-08-03 | 湖南中联重科建筑起重机械有限责任公司 | Tower crane hook slipping fault detection method and system and storage medium |
| CN113620176B (en) * | 2020-05-09 | 2024-08-02 | 安川电机（中国）有限公司 | Control method and device for hoisting equipment |
| CN112573405B (en) * | 2021-03-01 | 2021-05-25 | 河南工学院 | Tower crane abnormity early warning method and system based on image processing |
| CN116730231B (en) * | 2022-03-04 | 2024-08-20 | 中联重科股份有限公司 | Hoisting control method and device and hoisting equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4653653A (en) * | 1985-08-27 | 1987-03-31 | The Alliance Machine Company | Hoisting systems |
| DE3933505A1 (en) * | 1988-10-08 | 1990-04-12 | Man Ghh Krantechnik | Safety construction electric winch - has two winch motors and fail-safe brake operated by relative movements of two drives |
| FR2675790A1 (en) * | 1991-04-26 | 1992-10-30 | Materiel Ind Equipement | Device for monitoring a winch brake |
| CN101665220B (en) * | 2009-09-25 | 2012-02-01 | 四川建设机械（集团）股份有限公司 | Variable-frequency speed-regulating control system of crane |
| CN101875477B (en) * | 2009-12-04 | 2012-05-09 | 哈尔滨工业大学 | Crane with brake failure protection device and brake failure protection method |
| CN103663225B (en) * | 2013-12-04 | 2016-01-27 | 中联重科股份有限公司 | Protection system and hoist of stopper inefficacy |
| CN105129656B (en) * | 2014-06-06 | 2017-12-12 | 深圳市阿尔法变频技术有限公司 | A kind of hoisting machinery braking method and hoisting machinery brake apparatus |
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