CN109231047B - Device and method for controlling winding mechanism rope arrangement of hoisting machinery - Google Patents

Device and method for controlling winding mechanism rope arrangement of hoisting machinery Download PDF

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Publication number
CN109231047B
CN109231047B CN201811002253.7A CN201811002253A CN109231047B CN 109231047 B CN109231047 B CN 109231047B CN 201811002253 A CN201811002253 A CN 201811002253A CN 109231047 B CN109231047 B CN 109231047B
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CN
China
Prior art keywords
rope
moving speed
clamping unit
drum
arranging
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CN109231047A (en
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尹莉
陈锋
佘玲娟
付玲
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Priority to CN201811002253.7A priority Critical patent/CN109231047B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
    • B66D1/38—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains by means of guides movable relative to drum or barrel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Cable Installation (AREA)
  • Winding Filamentary Materials (AREA)

Abstract

The invention relates to the field of hoisting control, in particular to a device and a method for controlling a hoisting mechanism to arrange ropes by a hoisting machine. The hoisting mechanism comprises a drum for winding the rope, the device comprising: the rope clamping unit is used for limiting the deviation angle of the rope from the vertical direction in the rope arranging direction; a power unit configured to be coupled with the cord clamping unit; and a control unit for: when the roping position is in the safe area: determining a current position of the rope clamping unit; and controlling the power unit according to the rope arranging position and the current position of the rope clamping unit, so as to control the first moving speed of the rope clamping unit; when the rope guiding position is outside the safe area: and controlling the power unit according to the position deviation so as to control a first moving speed of the rope clamping unit, wherein the first moving speed enables the rope clamping unit to be positioned in a position deviated from the vertical direction within a preset angle range. The device and the method not only can realize smooth rope arrangement, but also can reduce the power consumption in the rope arrangement control process.

Description

Device and method for controlling winding mechanism rope arrangement of hoisting machinery
Technical Field
The invention relates to the field of hoisting control, in particular to a device and a method for controlling a hoisting mechanism to arrange ropes by a hoisting machine.
Background
The hoisting mechanism is commonly used for hoisting machinery to finish hoisting operation and is also used for other machinery to realize actions such as amplitude variation, traction and the like; the winding mechanism transmits the driving force generated by the prime mover to the rope and converts the rotary motion of the drum into linear motion of the rope.
The phenomenon of rope disorder when the winding drum winds often occurs in the working situation of long winding drums or multi-layer winding, and the rope disorder can seriously affect the service life of the rope. When the rope is wound on the winding drum, a deflection angle usually exists relative to the rope groove on the surface of the winding drum, if the winding drum is long, the deflection angle when the rope is wound on the end part of the winding drum is large, and the rope cannot accurately enter the rope groove, so that the rope disorder phenomenon is generated. When the multilayer winding is carried out, the upper layer of the rope is arranged in the gap formed by the lower layer, and the rope is mutually extruded and rubbed, so that the rope disorder phenomenon is easily caused. The process of arranging the rope on the drum and winding it on the drum may be referred to as roping.
For a hoisting mechanism used by a large machine, a small winding drum cannot meet the requirement of rope capacity, and long winding drums or multi-layer winding are necessary choices. In order to avoid rope disorder caused by winding of the long winding drum or winding of multiple layers, a corresponding automatic rope arranging device is needed to adjust the rope winding state, so that the rope disorder phenomenon is avoided. The automatic rope arranging device needs to be additionally provided with a guiding and moving mechanism and needs additional driving force. Under the heavy load condition, the power consumption of the automatic rope arranging mechanism cannot be ignored, and the problem of reducing the energy consumption is necessary to be considered when the automatic rope arranging mechanism is adopted.
At present, the automatic rope arranging device of the hoisting mechanism is used on a mining winch in a centralized mode, the hoisting mechanism of the hoisting machinery generally adopts a natural rope arranging mode, and a small number of high-end tower crane devices use the rope arranging device, but the automatic rope arranging device is high in price and large in power consumption, and cannot be popularized and used in a large quantity. The automatic rope arranging mechanism can be divided into three types, namely mechanical type, hydraulic type and electric type according to the driving force source. Fig. 1-3 show schematic diagrams of three prior art rope arranging machines, wherein fig. 1 is a mechanical automatic rope arranging mechanism, fig. 2 is a hydraulic automatic rope arranging mechanism, and fig. 3 is an electric automatic rope arranging mechanism. The mechanical automatic rope arranging mechanism is characterized in that the driving force of a rope arranging system is taken from the hoisting rotation, a prime motor is not needed to be additionally arranged, and the purpose of avoiding rope disorder is achieved by changing the angle of a rope during the winding. The driving force of the hydraulic automatic rope arranging mechanism is derived from an independent hydraulic pump, and the driving force is large and is suitable for heavy load working conditions. The driving force of the electric automatic rope arranging mechanism is derived from an independent motor, a complex transmission system is not needed, and the automatic rope arranging mechanism is convenient to control.
The main limitations of the current automatic rope arranging mechanism are as follows: the acting force required for adjusting the rope entering state under the heavy load working condition is very large, enough driving power and a transmission mechanism need to be matched, and the existing automatic rope arranging mechanism is difficult to deal with the heavy load working condition. The mechanical automatic rope arranging mechanism needs a set of specific transmission system, the transmission ratio of the mechanical automatic rope arranging mechanism is fixed, the applicability to different rotating speeds and different winding positions of a winding drum is insufficient, and the mechanical automatic rope arranging mechanism cannot be applied to various different working states. The automatic rope arranging mechanism driven by electricity or hydraulic pressure can realize the independent control of the action of the rope arranging mechanism, but the existing control logic is simple, only the reversing of the rope arranging mechanism is considered, the rope arranging mechanism adopts uniform motion, the power consumption waste of the automatic rope arranging mechanism is caused, and the automatic rope arranging mechanism is more prominent under the working condition of high speed and heavy load.
Disclosure of Invention
The embodiment of the invention aims to provide a device and a method for controlling a winding mechanism to arrange ropes by a hoisting machine, which not only can realize smooth rope arrangement, but also can reduce the power consumption in the rope arrangement control process.
In order to achieve the above object, an embodiment of the present invention provides an apparatus for controlling rope arrangement of a hoisting mechanism including a winding drum for winding a rope, the apparatus including: the rope clamping unit is used for limiting the deviation angle of the rope from the vertical direction in the rope arranging direction, and the vertical direction is perpendicular to the axial direction of the winding drum; a power unit configured to be coupled with the rope clamping unit for driving the rope clamping unit to move along the axial direction; and a control unit for: determining a roping position of the rope on the drum in an axial direction of the drum; and when the roping position is in the safe area: determining a current position of the rope clamping unit; and controlling the power unit according to the rope arranging position and the current position of the rope clamping unit so as to control a first moving speed of the rope clamping unit, wherein the first moving speed enables the rope clamping unit to always move along with the rope; when the roping position is outside the safe area: determining a positional offset of the rope gripping unit relative to a rope arranging position of the rope on the drum; and controlling the power unit according to the position offset so as to control a first moving speed of the rope clamping unit, wherein the first moving speed enables the rope clamping unit to be located in a position deviated from the vertical direction within a preset angle range or enables the position offset to be located within a preset offset range.
Wherein the control unit is further used for determining a first moving speed of the rope clamping unit; and determining a rope moving speed of the rope in an axial direction of the drum, wherein the determining a rope arranging position of the rope on the drum comprises: integrating the rope moving speed with the time from the rope arranging starting moment to the current moment to determine the rope arranging moving distance of the rope along the axial direction of the winding drum; and determining the rope arranging position according to the rope arranging moving distance and the rope arranging starting position of the rope on the winding drum. The current position of the rope clamping unit is determined by the following steps: integrating the time from the rope arrangement starting moment to the current moment by the first moving speed to determine a first moving distance of the rope clamping unit along the axial direction of the winding drum; and determining the current position according to the first moving distance and the initial position of the rope clamping unit.
Wherein the controlling the power unit according to the rope arranging position and the current position of the rope clamping unit so as to control the first moving speed of the rope clamping unit comprises: controlling the first moving speed to be the rope moving speed when a distance difference between the current position and the rope arranging position is within a preset distance range; when the current position is behind the rope arranging position by a first preset distance, controlling the power unit to accelerate so as to accelerate the first moving speed; and controlling the power unit to decelerate the first moving speed when the current position is a second predetermined distance ahead of the rope arranging position.
Wherein said controlling the power unit according to the position offset to control a first moving speed of the rope clamping unit comprises: increasing the first moving speed when the positional deviation is below a lower limit of a predetermined deviation range; decreasing the first moving speed when the positional deviation is higher than an upper limit of a predetermined deviation range, wherein the predetermined deviation range is determined according to the predetermined angle range.
Wherein the control unit is further configured to determine a first movement speed of the rope clamping unit. The determining a positional offset of the rope gripping unit relative to a rope arranging position of the rope on the drum comprises: and determining the position offset of the rope clamping unit relative to the rope arrangement position of the rope on the rope according to the first moving speed and the rope moving speed.
The power unit comprises a screw rod and a motor, the motor drives the screw rod to rotate, the screw rod is parallel to the axial direction of the winding drum, and the rope clamping unit is coupled with the screw rod through a thread transmission structure.
Wherein, the motor is an independent external motor.
Wherein the control unit includes: and the speed detection module is used for detecting the rotating speed of the winding drum and the rotating speed of the screw rod. The control unit is further configured to: determining the first moving speed according to the rotating speed of the screw rod; and determining the rope movement speed from the drum rotation speed.
Wherein the control unit further comprises: the first encoder is coaxially arranged with the rotating shaft of the screw rod; and a second encoder disposed coaxially with the rotation shaft of the drum. The determining a positional offset of the rope gripping unit relative to a rope arranging position of the rope on the drum comprises: determining the position offset from readings of the first encoder and the second encoder.
The power unit further comprises a polished rod, the rope clamping structure is provided with the thread transmission structure and moves by taking the polished rod as a track, and the polished rod is arranged to be parallel to the screw rod.
Wherein the rope clamping structure comprises two rollers which are arranged at intervals along the length direction of the polished rod, the rope passes through the intervals, and the rollers can roll along the polished rod.
Wherein the predetermined angle range or the predetermined offset range is determined according to the load of the rope and the bearing capacity of the rope, and/or the predetermined angle range or the predetermined offset range is related to the arrangement angle of the rope arranging grooves on the winding drum along the circumferential direction of the winding drum.
Wherein, the device still includes: and the protection module is arranged at the end part of the polished rod and used for preventing the stroke of the rope clamping unit from exceeding the end part of the winding drum.
And the protection module is provided with a proximity switch for sending a signal when the rope clamping unit reaches the end part of the polished rod.
Wherein the control unit is further configured to: when the rope reaches the end of the current rope arranging layer, the power unit is controlled to enable the rope clamping unit to move reversely.
Wherein, the device still includes: a preset parameter module for presetting one or more of: the distance between the rope arrangement grooves of the winding drum, the rope arrangement starting position of the rope wound on the winding drum, the end position of each rope arrangement layer of the rope on the winding drum, the initial position of the rope clamping unit, the thread pitch of the screw rod, the preset angle range, the preset offset range and the boundary of the safety zone.
According to another aspect of the present invention, there is also provided a method of controlling roping of a hoisting mechanism including a drum for winding a rope, the method being used for controlling a system of roping of the hoisting mechanism, the system comprising: the rope clamping unit is used for limiting the deviation angle of the rope from the vertical direction in the rope arranging direction, and the vertical direction is perpendicular to the axial direction of the winding drum; and a power unit configured to be coupled with the rope clamping unit for driving the rope clamping unit to move along the axial direction, the method comprising: determining a roping position of the rope on the drum in an axial direction of the drum; and when the roping position is in the safe area: determining a current position of the rope clamping unit; and controlling the power unit according to the rope arranging position and the current position of the rope clamping unit so as to control a first moving speed of the rope clamping unit, wherein the first moving speed enables the rope clamping unit to always move along with the rope; when the roping position is outside the safe area: determining a positional offset of the rope gripping unit relative to a rope arranging position of the rope on the drum; and controlling the power unit according to the position offset so as to control a first moving speed of the rope clamping unit, wherein the first moving speed enables the rope clamping unit to be located in a position deviated from the vertical direction within a preset angle range or enables the position offset to be located within a preset offset range.
Wherein, the method can also comprise: determining a first moving speed of the rope clamping unit; and determining a rope moving speed of the rope in an axial direction of the drum, wherein the determining a rope arranging position of the rope on the drum comprises: integrating the time from the rope arrangement starting moment to the current moment by the rope moving speed to determine the rope arrangement moving distance of the rope along the axial direction of the winding drum; determining the rope arranging position according to the rope arranging moving distance and the rope arranging starting position of the rope on the winding drum, wherein the current position of the rope clamping unit is determined by the following steps: integrating the time from the rope arrangement starting moment to the current moment by the first moving speed to determine a first moving distance of the rope clamping unit along the axial direction of the winding drum; and determining the current position according to the first moving distance and the initial position of the rope clamping unit.
Wherein the controlling the power unit according to the rope arranging position and the current position of the rope clamping unit so as to control the first moving speed of the rope clamping unit comprises: controlling the first moving speed to be the rope moving speed when a distance difference between the current position and the rope arranging position is within a preset distance range; when the current position is behind the rope arranging position by a first preset distance, controlling the power unit to accelerate so as to accelerate the first moving speed; and controlling the power unit to decelerate the first moving speed when the current position is a second predetermined distance ahead of the rope arranging position.
Wherein said controlling the power unit according to the position offset to control a first moving speed of the rope clamping unit comprises: increasing the first moving speed when the positional deviation is below a lower limit of a predetermined deviation range; decreasing the first moving speed when the positional deviation is higher than an upper limit of a predetermined deviation range, wherein the predetermined deviation range is determined according to the predetermined angle range.
Wherein, the method also comprises: determining a first moving speed of the rope gripping unit and a rope moving speed of the rope in the axial direction; the determining a positional offset of the rope gripping unit relative to a rope arranging position of the rope on the drum comprises: and determining the position offset of the rope clamping unit relative to the rope arrangement position of the rope on the winding drum according to the first moving speed and the rope moving speed.
The power unit comprises a screw rod and a motor, the motor drives the screw rod to rotate, the screw rod is arranged in parallel to the axial direction of the winding drum, the rope clamping unit is coupled with the screw rod through a thread transmission structure, and the method further comprises the following steps: detecting the rotating speed of a winding drum and the rotating speed of a screw rod; determining the first moving speed according to the rotating speed of the screw rod; and determining the rope movement speed from the drum rotation speed.
Wherein, the method also comprises: when the rope reaches the end of the current rope arranging layer, the power unit is controlled to enable the rope clamping unit to move reversely.
In another aspect, the invention provides a hoisting machine comprising an apparatus as described above.
In another aspect, the present invention provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the methods described herein.
Through the technical scheme, the moving speed of the rope clamping unit is adjusted according to the rope clamping device and the position deviation of the rope arrangement position of the rope, the rope can be limited within a preset angle range, and the rope clamping unit moves along with the rope in a safe area without applying force or excessively applying force to the rope, so that the energy consumption of the rope arrangement control process can be reduced.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIGS. 1-3 are schematic diagrams of prior art roping control arrangements;
fig. 4 is a block diagram illustrating an apparatus for controlling a winding machine to arrange ropes according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a hoist control winding mechanism roping arrangement according to another embodiment of the present invention;
fig. 6 is a schematic view of a rope clamping unit in the device for controlling the rope arrangement of the hoisting mechanism of the hoisting machine according to another embodiment of the invention;
fig. 7 is a schematic view illustrating a rope clamping unit when no force is applied to a rope in the apparatus for controlling the winding mechanism to arrange the rope of the hoisting machine according to an embodiment of the present invention;
fig. 8 is a schematic view illustrating a rope clamping unit applying force to a rope to limit the position of the rope in the apparatus for controlling the winding mechanism to arrange the rope according to an embodiment of the present invention;
fig. 9 is a view for explaining the height of the drum in the rope clamping unit in the apparatus for controlling the rope discharge of the winding mechanism of the hoisting machine according to an embodiment of the present invention.
FIG. 10 is a flow chart of a method of controlling roping of a hoisting mechanism according to one embodiment of the present invention;
fig. 11 is a flowchart when a rope aligning position is located at a safe area in a method of controlling the rope aligning of a winding mechanism according to another embodiment of the present invention; and
fig. 12 is a flowchart when a rope discharging position is located outside a safe area in a method of controlling a winding mechanism to discharge a rope according to another embodiment of the present invention.
Description of the reference numerals
1: and (2) the rack: turbine wheel
3: a slide bar 4: rope supporting wheel
5: the clutch 6: inner gear ring
7: the winch drum 8: nut
9: sliding bearing 10: oil cup
11: rope-arranging hydraulic cylinder 12: support frame
13: the stepping motor 14: coupling device
15: wiring guide head 16: screw mandrel
S: rope 52: electric machine
53: the control unit 54: winding drum
55. 59: the encoder 56: rope clamping unit
57: the screw rod 58: polish rod
62: the roller 63: shaft
64: the housing 65: through hole
66: the screw transmission structure 110: rope clamping unit
120: the power unit 130: control unit
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 4 is a block diagram illustrating an apparatus for controlling a winding machine to arrange a rope according to an embodiment of the present invention. The hoisting mechanism comprises a drum for winding the rope, the device comprising: a rope clamping unit 110 for limiting a deviation angle of the rope from a vertical direction in a rope arranging direction, the vertical direction being perpendicular to an axial direction of the drum; a power unit 120 configured to couple with the rope clamping unit for driving the rope clamping unit to move along the axial direction; and a control unit 130 for: determining a roping position of the rope on the drum in an axial direction of the drum; and when the roping position is in the safe area: determining a current position of the rope clamping unit; and controlling the power unit according to the rope arranging position and the current position of the rope clamping unit so as to control a first moving speed of the rope clamping unit, wherein the first moving speed enables the rope clamping unit to always move along with the rope; when the roping position is outside the safe area: determining a positional offset of the rope gripping unit relative to a rope arranging position of the rope on the drum; and controlling the power unit according to the position offset so as to control a first moving speed of the rope clamping unit, wherein the first moving speed enables the rope clamping unit to be located in a position deviated from the vertical direction within a preset angle range or enables the position offset to be located within a preset offset range. The direction of the rope alignment in the embodiment shown in fig. 5 is schematically indicated by an arrow in fig. 5, and when the rope alignment is reversed, the direction of the rope alignment is opposite to the arrow in fig. 5. The safety zone may be determined from the safety zone boundary by presetting the safety zone boundary. The safe zone limits are affected by a number of factors (see below in particular), and may be set according to the particular plant conditions.
The rope position P1 of the rope on the drum and the position offset P3 of the current positions P2, P1 and P2 of the rope gripping unit in the axial direction of the drum are illustrated in fig. 7.
The term "coupling" as used herein may refer to contact coupling such as engagement, meshing, or plugging, or may refer to non-contact coupling such as electromagnetic coupling.
The setting method of the predetermined angle range is exemplified as follows. The predetermined angle range may be set by using the vertical direction as a boundary, and setting an angle that deviates from the vertical direction toward the roping direction shown in fig. 5 to be positive, and an angle that deviates from the vertical direction toward the opposite direction to the roping direction shown in fig. 5 to be negative. Similarly, the predetermined offset range may be set by setting the position of the rope gripping unit, at which the positional offset in the axial direction of the spool between the rope gripping unit and the rope arranging position is 0, as a zero point, the positional offset toward the rope arranging direction is positive, and the positional offset toward the opposite direction of the rope arranging direction is negative.
The predetermined angle range, that is, the angle range in which the rope can be smoothly wound on the drum, may cause the rope not to be accurately wound in the rope arranging groove of the drum if the position of the rope exceeds the predetermined angle range, and thus a rope disorder such as a lamination may occur. The embodiment has the following technical effects: when the rope is wound in a safe area, the rope clamping unit moves forwards along with the rope, so that no additional force or only a small force is applied to the rope by the rope clamping unit in the safe area, and the power unit does not need to consume additional energy in the safe area and only needs to drive the rope clamping unit to move; when only the rope arrangement is carried out to the outside of the safe area, the rope clamping unit applies certain force to the rope to enable the rope to be located in the preset angle range because the rope deflection angle exceeds the preset angle range of the safe rope arrangement. The energy consumption of the power unit can be significantly reduced by this embodiment. And the speed of the rope clamping unit can be controlled according to the position deviation, and the accuracy of rope arrangement control can be realized, so that the moving position of the rope clamping unit can be prevented from being not matched with the moving position of the rope.
The predetermined angular range or said predetermined offset range may be determined for different hoisting machines depending on the load that may be applied to the line during hoisting and the load-bearing capacity of the line. The predetermined angle range or the predetermined offset range may also be associated with the arrangement angle of the rope grooves on the drum in the circumferential direction of the drum. For example, the arrangement angle and the spacing of the rope arranging grooves can be determined.
Fig. 5 is a schematic view of a device for controlling the rope arrangement of a hoisting mechanism of a hoisting machine according to another embodiment of the invention. As shown in fig. 5, the power unit may include a screw 57 and a motor 52, the motor 52 drives the screw 57 to rotate, the screw 57 is disposed parallel to the axial direction of the winding drum 54, and the rope clamping unit 56 is coupled with the screw through a screw transmission structure. Reference numeral 53 in fig. 5 is a control unit.
The motor 52 is preferably an independent external motor, so that the motion state of the rope guiding device can be adjusted in real time to adapt to different working conditions of the hoisting machine.
As shown in fig. 5, the power unit may further include a polished rod 58, and the rope clamping unit 56 may include a rope clamping structure 561. Also provided in fig. 5 are sum encoders 55, 59. The power unit comprises a polished rod 58 as a moving track of the rope clamping unit, and can provide balance support for the rope clamping unit, so that the phenomenon of instability during movement of the rope clamping unit is avoided. The power unit shown in fig. 5 is not the only structure, and those skilled in the art can make other configurations, for example, for the working scene where the motor is not suitable, the starting and unit can be replaced by hydraulic drive, and the device composition can be changed accordingly to realize electro-hydraulic control.
Fig. 6 is a schematic view of a rope clamping unit in a device for controlling the rope arrangement of a hoisting mechanism of a hoisting machine according to another embodiment of the invention. As shown in fig. 6, the rope clamping unit has a screw driving structure 66 and moves with the polish rod 58 as a track, and the polish rod 58 is disposed parallel to the lead screw 57. The motor 52 drives the screw rod 57 to rotate, and the screw rod 57 transmits force to the rope clamping unit through the thread transmission structure 66, so that the speed of the rope clamping unit can be controlled. In the cord clamping unit shown in fig. 6, a screw transmission structure 66 is provided to the through hole 65 so as to be coupled with the screw shaft 57 of the driving unit. The outer circumference of drum 54 may be provided with a rope aligning groove along which the rope is wound during rope aligning.
In the rope discharging process, the rope discharging section at the outer periphery of the drum 54 can be divided into a safe area where the rope S can be smoothly wound around the drum 54 even if the skew angle of the rope S is not intentionally limited, and an unsafe area. In the unsafe zone, it is necessary to ensure that the skew angle of the rope S is within an angle range enabling the rope S to be smoothly wound on the drum 54 by applying a force in a specific direction. The limits of the safety zone may be determined by the diameter of the drum, the length, the starting position of the rope run where the rope is wound on the drum, etc., and may be preset in the system for use when the system is in operation. The limits of the safe zone may also be related to the number of layers of rope wound on the drum, the greater the number of layers currently wound, the more likely it is to enter the unsafe zone. The unsafe zones (zones outside the safe zone) are mainly present at the end of the reel or in the area of the rope arrangement with a large number of layers as shown in fig. 7, and the specific limits are influenced by the equipment structures of different hoisting machines.
When the rope arranging position is located in the safe area, the rope clamping unit only needs to move along with the rope, and the rope clamping unit does not need to apply force to the rope. Therefore, the first moving speed can be controlled to be the rope moving speed when the distance difference between the current position of the rope clamping unit and the rope arranging position in the axial direction of the winding drum is within the preset distance range, if the distance difference between the current position of the rope clamping unit and the rope arranging position in the axial direction of the winding drum is not more than the preset distance range, the current rope clamping unit is in a state of moving along the rope, no force or only a small force is applied to the rope, and therefore the rope clamping unit only needs to move at the same speed as the rope moving speed; when the current position lags behind the rope arranging position by a first preset distance, the rope clamping unit is excessively deviated relative to the rope (excessively deviated in a direction opposite to the moving direction of the rope), so that the deviation angle of the rope is possibly not suitable for being wound to a rope arranging groove of a winding drum, and the power unit can be controlled to accelerate the first moving speed; and controlling the power unit to decelerate the first moving speed when the current position is a second predetermined distance ahead of the rope arranging position.
The predetermined distance range, the first predetermined distance, and the second predetermined distance in the above embodiments may be determined according to specific device characteristics, and may be set in the system. The current position of the rope clamping unit can be the original point, the distance difference of the rope clamping unit behind the rope arranging position is a negative value, and the distance difference of the rope clamping unit ahead of the rope arranging position is a positive value, so that the preset distance range is set. For example, assuming that the first predetermined distance is X1 and the second predetermined distance is X2, the predetermined distance range may be set to a range of-X1 to X2.
As shown in fig. 5 and 6, when the rope S passes through the rope clamping structure 561, in the safety area, the natural inclination angle of the rope S can satisfy the rope arrangement requirement, i.e. the deviation angle of the rope S is within the predetermined angle range, so that the rope clamping unit 56 only follows the rope S, and the rope clamping unit applies no additional force or only a small force to the rope. Therefore, in a safe area, the motor 52 only consumes the force for driving the rope clamping structure to move, so that no additional power is consumed, and the energy consumption of the power system can be obviously reduced. When the rope alignment enters the unsafe zone of the drum, as shown in fig. 8, the natural deviation angle of the rope S exceeds the predetermined angle range, and if the deviation angle of the rope is not controlled, the rope may not be wound into the correct rope alignment groove, thereby causing the phenomenon of misalignment of the rope alignment, etc. If the position of the rope-gripping unit that restrains the rope is controlled within a predetermined angle range from the perpendicular direction perpendicular to the axial direction of the drum, the rope-gripping unit may apply a force to the rope to restrain the position of the rope at a position where the deviation angle is within the predetermined angle range, as shown in fig. 7. Thus, the rope can be always positioned at a position where the rope can be smoothly wound on the drum.
In a preferred embodiment, the predetermined offset range can be determined from a predetermined angular range, and for a determined device configuration, the vertical position of the screw spindle and the drum is fixed, and thus the predetermined offset range can be determined from the predetermined angular range. In order to always position the rope gripping unit within the predetermined offset range, the rotation speed of the motor 52 may be increased when the positional offset is below the lower limit of the predetermined offset range, thereby increasing the first moving speed V1 of the rope gripping unit; when the positional deviation is higher than the upper limit of the predetermined deviation range, the rotational speed of the motor 52 may be reduced to reduce the first moving speed.
In a preferred embodiment, the control unit may determine a first moving speed of the rope gripping unit and a rope moving speed of the rope in the axial direction. At this time, the positional deviation of the rope gripping unit with respect to the rope arranging position of the rope on the upper side may be determined based on the first moving speed and the rope moving speed.
Preferably, the control unit may include a speed detection module for detecting a rotation speed of the drum and a rotation speed of the lead screw. The speed detection module can be, for example, encoders 55 and 59 shown in fig. 5, the encoder 55 is disposed coaxially with the winding drum 54 and can detect the rotation speed of the winding drum 54, and the encoder 59 is disposed coaxially with the lead screw and can detect the rotation speed of the lead screw. The speed determination module may thereby determine the first movement speed from the screw rotation speed and determine the rope movement speed from the drum rotation speed.
For a certain device configuration, the drum diameter, the drum length, the pitch of the rope grooves, the rope diameter, the lead screw pitch, the initial position of the rope arrangement, etc. are determined, and the positional offset can be determined from these parameters and the first moving speed, the rope moving speed, etc. The above parameters may be stored in a memory, and in order to be suitable for different hoisting machines and different working conditions, the device further comprises a preset parameter module for presetting one or more of the following: the distance between the rope arrangement grooves of the winding drum, the rope arrangement starting position of the rope wound on the winding drum, the end position of each rope arrangement layer of the rope on the winding drum, the initial position of the rope clamping unit, the thread pitch of the screw rod, the preset angle range, the preset deviation range and the boundary of a safety area.
Wherein the first movement speed of the rope clamping unit can be determined as follows:
Figure GDA0002456188380000141
the rope movement speed in the axial direction of the drum (mm/s) is then:
Figure GDA0002456188380000142
wherein r is2Is the drum speed r1Is the rotation speed of the screw rod, p2For the drum-to-drum pitch, p1Is the screw pitch of the screw rod. The moving distance can be obtained by integrating the moving speed with time, and further the axial position of the rope and the position of the rope clamping unit are obtained. The position offset can be determined from the positions of both. The rotational speed of the drum can be obtained by means of an encoder 55 and the rotational speed of the screw can be obtained by means of an encoder 59.
In one embodiment, after the first moving speed of the rope clamping unit and the rope moving speed are determined, the current position of the rope clamping unit can be determined according to the first moving speed, and the rope arranging position at the current moment can be determined according to the rope moving speed. Specifically, the rope moving speed may be integrated with the time from the rope arranging start time to the current time to determine the rope arranging moving distance of the rope along the axial direction of the drum; and determining the rope arranging position according to the rope arranging moving distance and the rope arranging starting position of the rope on the winding drum. The first moving speed can be further integrated with the time from the rope arranging starting moment to the current moment so as to determine a first moving distance of the rope clamping unit along the axial direction of the winding drum; and determining the current position according to the first moving distance and the initial position of the rope clamping unit. The initial position of the rope clamping unit and the rope arranging starting position of the rope can be set according to the specific equipment structure.
Appropriate modifications can be made to this embodiment. For example, after determining the position of the rope gripping unit according to the first moving speed of the rope gripping unit, the position may determine the deviation angle of the rope gripping unit from the direction perpendicular to the axial direction of the winding drum, and if the deviation angle exceeds the predetermined angle range, the first moving speed of the rope gripping unit may be controlled by controlling the motor 52 so that the deviation angle of the rope gripping unit is within the predetermined angle range.
In addition, a safe area with the natural deflection angle of the rope within the preset angle range can be determined according to the specific equipment structure, so that the first moving speed of the rope clamping unit can be properly adjusted according to the preset safe area limit, and the rope clamping unit does not exert extra force on the rope as much as possible in the safe area. For example, after the position of the rope gripping unit and the position of the rope in the axial direction of the drum are determined according to the above method, the speed of the rope gripping unit can be controlled according to the relative positions of the two in the axial direction of the drum. If the relative position is large, the motor 52 may be accelerated when the rope gripping unit is behind the rope and the motor 52 may be decelerated when the rope gripping unit is ahead of the rope. Thereby, the force applied to the rope by the rope clamping unit in the safety area can be further reduced, and the driving power consumption can be further reduced.
In another embodiment, the position offset may also be determined from the readings of the encoders 55 and 59. For the winding drum or the screw rod with determined parameters, the reading of the specific encoder can correspond to the moving distance of the rope and the moving distance of the rope clamping unit, so that the axial moving distance of the rope and the moving distance of the rope clamping unit corresponding to the reading of the encoder can be obtained through testing, and the position offset between the rope clamping unit and the rope can be determined only according to the reading of the encoder.
Further, as shown in fig. 6, the rope clamping structure 561 may preferably include two rollers 62 disposed at an interval along the length direction of the polish rod 58, through which the rope S passes from the interval between the rollers 62, and the rollers can roll along the polish rod 58, i.e., the movement axes of the rollers are perpendicular to the polish rod, and fixed to the housing 64 by the shaft 63. Therefore, the rope clamping unit moves forward in a rolling mode by taking the polished rod as a track, and the friction force of the forward movement of the rope clamping unit can be reduced. This reduces the drive power consumption and reduces wear between the components. Of course, the rope-gripping unit may also have a structure that moves along the polished rod in a sliding manner using a slider or the like slotted in the middle.
Fig. 9 is a view for explaining the height of the drum in the rope clamping unit in the apparatus for controlling the rope discharge of the winding mechanism of the hoisting machine according to an embodiment of the present invention. The device embodied by the invention can be used for hoisting machinery, and the height of the roller can be determined according to the following formula:
Figure GDA0002456188380000161
wherein L is the height of the roller, a is the distance between the axis of the winding drum and the roller, b is the distance between the roller and the lifting point of the hoisting machine, and H is the maximum lifting height of the hoisting machine, S1 in fig. 9 is the state of the rope (i.e. the upper limit of the rope) when the hoisting machine is lifted to the maximum height, and S2 is the state of the rope (i.e. the lower limit of the rope) when the hoisting machine is at the lifting starting point.
In a preferred embodiment, the present invention may further provide a protection module provided at an end of the polish rod for preventing the stroke of the rope clamping unit from exceeding the end of the winding drum. The protection module may be, for example, a mechanical stop structure disposed at the end of the polish rod 58. For example, a mechanical stopper may be provided at the end of the polish rod to limit the moving position of the rope clamping unit, or a position detecting device may be provided to send a signal to the control unit 53 when the rope clamping unit moves out of the safety position, so that the control unit may detect an alarm.
The protection module can be further provided with a proximity switch for sending out a signal when the rope clamping unit reaches the end part of the polished rod. The signal can be used to alert the device of an anomaly or to inform the control unit 53 that the current roping level has reached the end and that a change of level is required. The control unit 53 may control the power unit to move the rope clamping unit in a reverse direction when the rope reaches the end of the current rope arranging layer, so that the rope arrangement continues to enter the next layer.
Fig. 10 is a flowchart of a method of controlling roping of a hoisting mechanism according to an embodiment of the present invention. The hoisting mechanism controlled by the method comprises a winding drum for winding a rope, and the method is used for controlling a system for arranging the hoisting mechanism, and the system comprises: the rope clamping unit is used for limiting the deviation angle of the rope from the vertical direction in the rope arranging direction, and the vertical direction is perpendicular to the axial direction of the winding drum; and a power unit configured to be coupled with the rope clamping unit for driving the rope clamping unit to move along the axial direction. As shown in fig. 10, the method comprises the steps of:
and S101, determining the rope arrangement position of the rope on the winding drum along the axial direction of the winding drum.
And S102, judging whether the rope arranging position is in a safety area.
And step S103, determining the current position of the rope clamping unit when the rope arranging position is located in a safe area.
And S104, controlling the power unit according to the rope arranging position and the current position of the rope clamping unit so as to control a first moving speed of the rope clamping unit, wherein the first moving speed enables the rope clamping unit to move along with the rope all the time.
And S105, when the rope arranging position is out of the safe area, determining the position offset of the rope clamping unit relative to the rope arranging position of the rope on the winding drum.
And S106, controlling the power unit according to the position deviation so as to control a first moving speed of the rope clamping unit, wherein the first moving speed enables the rope clamping unit to be located at a position deviated from the vertical direction within a preset angle range.
Fig. 11 is a flowchart when a rope aligning position is located at a safe area in a method of controlling the rope aligning of a winding mechanism according to another embodiment of the present invention. As shown in fig. 11, when the roping position is within the safe area, the method may comprise the steps of:
step S1101 of determining a first moving speed of the rope gripping unit and a rope moving speed of the rope in an axial direction of the drum.
Step S1102, integrating the rope moving speed with respect to the time from the rope arranging start time to the current time, so as to determine the rope arranging moving distance of the rope along the axial direction of the drum.
And S1103, determining the rope arrangement position according to the rope arrangement moving distance and the rope arrangement starting position of the rope on the winding drum.
Step S1104, integrating the first moving speed with respect to the time from the rope arranging start time to the current time, so as to determine a first moving distance of the rope clamping unit along the axial direction of the winding drum.
Step S1105, determining the current position according to the first moving distance and the initial position of the rope clamping unit.
In step S1106, it is determined whether the distance difference between the current position and the rope arranging position is within a predetermined distance range.
Step S1107, when the distance difference between the current position and the rope arranging position is within a predetermined distance range, control the first moving speed to the rope moving speed.
Step S1108, judging whether the current position is behind the rope arranging position by a first preset distance
Step S1109, when the current position lags behind the rope arranging position by a first preset distance, controlling the power unit to accelerate so as to accelerate the first moving speed.
Step S1110, determining whether the current position is ahead of the rope guiding position by a second predetermined distance
And S1111, when the current position is advanced from the rope arranging position by a second preset distance, controlling the power unit to decelerate so as to decelerate the first moving speed.
Fig. 12 is a flowchart when a rope discharging position is located outside a safe area in a method of controlling a winding mechanism to discharge a rope according to another embodiment of the present invention. As shown in fig. 12, the method may further include the steps of:
step S1201, determining a first moving speed of the rope clamping unit and a rope moving speed of the rope along the axial direction;
step S1202, determining the position offset of the rope clamping unit relative to the rope arrangement position of the rope on the winding drum according to the first moving speed and the rope moving speed.
Wherein the step of controlling the power unit according to the positional deviation may include the steps of:
in step S1203, it is determined whether the positional deviation is below the lower limit of the predetermined deviation range.
In step S1204, when the positional deviation is lower than a lower limit of a predetermined deviation range, the first moving speed is increased.
In step S1205, it is determined whether the positional deviation is higher than the upper limit of the predetermined deviation range.
In step S1206, when the position deviation is higher than an upper limit of a predetermined deviation range, the first moving speed is decreased, wherein the predetermined deviation range is determined according to the predetermined angle range.
The power unit comprises a screw rod and a motor, the motor drives the screw rod to rotate, the screw rod is arranged in parallel to the axial direction of the winding drum, the rope clamping unit is coupled with the screw rod through a thread transmission structure, and the method further comprises the following steps: detecting the rotating speed of a winding drum and the rotating speed of a screw rod; determining the first moving speed according to the rotating speed of the screw rod; and determining the rope movement speed from the drum rotation speed.
Wherein, the method also comprises: when the rope reaches the end of the current rope arranging layer, the power unit is controlled to enable the rope clamping unit to move reversely.
All the details described above in relation to the hoisting machine rope aligning control device are equally applicable to the inventive method of controlling rope aligning of a hoisting machine, and therefore the description thereof is not repeated. Through the embodiment, the scheme of controlling the rope deflection angle by controlling the speed of the rope clamping unit is provided, and compared with the prior art, the control power consumption can be greatly reduced.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. 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 addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.

Claims (12)

1. A hoisting machine control hoist mechanism rope arranging device, hoist mechanism includes the reel that is used for winding rope, its characterized in that, the device includes:
a rope clamping unit for limiting the deviation angle of the rope from the vertical direction in the rope arranging direction, wherein the vertical direction is perpendicular to the axial direction of the winding drum, the rope clamping unit comprises a rope clamping structure, the rope clamping structure comprises two cylindrical rollers which are arranged at intervals along the length direction of a polished rod, the rope passes through the intervals, and the rollers can roll along the polished rod;
a power unit configured to be coupled with the rope clamping unit for driving the rope clamping unit to move along the axial direction, the power unit including the polished rod, a lead screw and a motor, the motor driving the lead screw to rotate, the lead screw being disposed parallel to the axial direction of the winding drum and parallel to the polished rod, the rope clamping unit being coupled with the lead screw through a screw transmission structure and moving with the polished rod as a track; and
a control unit for:
determining a roping position of the rope on the drum in an axial direction of the drum; and
when the roping position is in the safe area:
determining a current position of the rope clamping unit; and
controlling the power unit according to the rope arranging position and the current position of the rope clamping unit so as to control a first moving speed of the rope clamping unit, wherein the first moving speed enables the rope clamping unit to move along with the rope all the time;
when the roping position is outside the safe area: determining a position offset of the rope clamping unit relative to the rope arranging position; and
controlling the power unit according to the position offset so as to control a first moving speed of the rope clamping unit, wherein the first moving speed enables the rope clamping unit to be located at a position deviated from the vertical direction within a preset angle range or enables the position offset to be located within a preset offset range;
the control unit is further configured to: determining a first moving speed of the rope clamping unit; and determining a rope moving speed of the rope in an axial direction of the drum, wherein,
said determining a roping position of said line on said drum comprises: integrating the time from the rope arrangement starting moment to the current moment by the rope moving speed to determine the rope arrangement moving distance of the rope along the axial direction of the winding drum; determining the rope arranging position according to the rope arranging moving distance and the rope arranging starting position of the rope on the winding drum,
the current position of the rope clamping unit is determined by the following steps: integrating the time from the rope arrangement starting moment to the current moment by the first moving speed to determine a first moving distance of the rope clamping unit along the axial direction of the winding drum; determining the current position according to the first movement distance and an initial position of the rope clamping unit,
the first moving speed is determined according to the following equation:
Figure FDA0002539476240000021
the rope movement speed is determined according to the following formula:
Figure FDA0002539476240000022
wherein v is1Is said first moving speed, v2For the rope moving speed, r2Is the drum speed r1For said screw spindle speed, p2For the drum-to-drum pitch, p1The screw pitch of the screw rod is set,
the height of the drum is determined according to the following formula:
Figure FDA0002539476240000023
l represents the height of the roller, a represents the distance between the axis of the drum and the roller, b represents the distance between the roller and the lifting point of the lifting machine, and H represents the maximum lifting height of the lifting machine.
2. The apparatus of claim 1, wherein the controlling the power unit according to the rope aligning position and the current position of the rope clamping unit so as to control the first moving speed of the rope clamping unit comprises:
controlling the first moving speed to be the rope moving speed when a distance difference between the current position and the rope arranging position is within a preset distance range;
when the current position is behind the rope arranging position by a first preset distance, controlling the power unit to accelerate so as to accelerate the first moving speed; and
when the current position is a second predetermined distance ahead of the rope aligning position, controlling the power unit to decelerate the first moving speed.
3. The apparatus of claim 1, wherein the controlling the power unit according to the position offset to control a first moving speed of the rope clamping unit comprises:
increasing the first moving speed when the positional deviation is below a lower limit of the predetermined deviation range;
reducing the first moving speed when the positional deviation is higher than an upper limit of the predetermined deviation range,
wherein the predetermined offset range is determined according to the predetermined angle range.
4. The apparatus of claim 1, wherein the determining the positional offset of the rope clamping unit relative to the rope aligning position comprises:
and determining the position offset of the rope clamping unit relative to the rope arranging position according to the first moving speed and the rope moving speed.
5. The apparatus of claim 1, wherein the control unit further comprises:
the first encoder is coaxially arranged with the rotating shaft of the screw rod; and
a second encoder disposed coaxially with the rotation shaft of the drum,
the determining the position offset of the rope clamping unit relative to the rope arranging position comprises:
determining the position offset from readings of the first encoder and the second encoder.
6. A device according to any one of claims 1-5, characterised in that the predetermined angle range or the predetermined deflection range is determined on the basis of the load of the rope and the load-bearing capacity of the rope, and/or
The predetermined angle range or the predetermined offset range is associated with the arrangement angle of the rope arranging grooves on the winding drum along the circumferential direction of the winding drum.
7. The apparatus according to any one of claims 1-5, wherein the control unit is further configured to:
when the rope reaches the end of the current rope arranging layer, the power unit is controlled to enable the rope clamping unit to move reversely.
8. A method for a hoisting machine to control the roping of a hoisting mechanism, said hoisting mechanism comprising a drum for winding a rope, characterized in that the method is used in a system for controlling the roping of a hoisting mechanism, which system comprises:
a rope clamping unit for limiting the deviation angle of the rope from the vertical direction in the rope arranging direction, wherein the vertical direction is perpendicular to the axial direction of the winding drum, the rope clamping unit comprises a rope clamping structure, the rope clamping structure comprises two cylindrical rollers which are arranged at intervals along the length direction of a polished rod, the rope passes through the intervals, and the rollers can roll along the polished rod; and
a power unit configured to be coupled with the rope clamping unit for driving the rope clamping unit to move along the axial direction, the power unit including the polished rod, a lead screw and a motor, the motor driving the lead screw to rotate, the lead screw being disposed parallel to the axial direction of the winding drum and parallel to the polished rod, the rope clamping unit being coupled with the lead screw through a screw transmission structure and moving with the polished rod as a track,
the method comprises the following steps:
determining a roping position of the rope on the drum in an axial direction of the drum;
when the roping position is in the safe area:
determining a current position of the rope clamping unit; and
controlling the power unit according to the rope arranging position and the current position of the rope clamping unit so as to control a first moving speed of the rope clamping unit, wherein the first moving speed enables the rope clamping unit to move along with the rope all the time; and
when the roping position is outside the safe area:
determining a positional offset of the rope gripping unit relative to a rope arranging position of the rope on the drum; and
controlling the power unit according to the position offset so as to control a first moving speed of the rope clamping unit, wherein the first moving speed enables the rope clamping unit to be located at a position deviated from the vertical direction within a preset angle range or enables the position offset to be located within a preset offset range;
the method further comprises the following steps: determining a first moving speed of the rope clamping unit; and determining a rope moving speed of the rope in an axial direction of the drum, wherein,
said determining a roping position of said line on said drum comprises: integrating the time from the rope arrangement starting moment to the current moment by the rope moving speed to determine the rope arrangement moving distance of the rope along the axial direction of the winding drum; determining the rope arranging position according to the rope arranging moving distance and the rope arranging starting position of the rope on the winding drum,
the current position of the rope clamping unit is determined by the following steps: integrating the time from the rope arrangement starting moment to the current moment by the first moving speed to determine a first moving distance of the rope clamping unit along the axial direction of the winding drum; determining the current position according to the first movement distance and an initial position of the rope clamping unit,
the first moving speed is determined according to the following equation:
Figure FDA0002539476240000051
the rope movement speed is determined according to the following formula:
Figure FDA0002539476240000052
wherein v is1Is said first moving speed, v2For the rope moving speed, r2Is the drum speed r1For said screw spindle speed, p2For the drum-to-drum pitch, p1The screw pitch of the screw rod is set,
the height of the drum is determined according to the following formula:
Figure FDA0002539476240000053
l represents the height of the roller, a represents the distance between the axis of the drum and the roller, b represents the distance between the roller and the lifting point of the lifting machine, and H represents the maximum lifting height of the lifting machine.
9. The method of claim 8, wherein the controlling the power unit according to the roping position and the current position of the roping unit such that the first speed of movement of the roping unit is controlled comprises:
controlling the first moving speed to be the rope moving speed when a distance difference between the current position and the rope arranging position is within a preset distance range;
when the current position is behind the rope arranging position by a first preset distance, controlling the power unit to accelerate so as to accelerate the first moving speed; and
when the current position is a second predetermined distance ahead of the rope aligning position, controlling the power unit to decelerate the first moving speed.
10. The method of claim 8, wherein the controlling the power unit according to the position offset to control a first moving speed of the rope gripping unit comprises:
increasing the first moving speed when the positional deviation is below a lower limit of a predetermined deviation range;
reducing the first moving speed when the positional deviation is higher than an upper limit of a predetermined deviation range,
wherein the predetermined offset range is determined according to the predetermined angle range.
11. Hoisting machine, characterized in that it comprises a device according to any one of claims 1-7.
12. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of any one of claims 8-10.
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