CN114835043A - Force-sensing lifting equipment and control method - Google Patents
Force-sensing lifting equipment and control method Download PDFInfo
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- CN114835043A CN114835043A CN202210421799.6A CN202210421799A CN114835043A CN 114835043 A CN114835043 A CN 114835043A CN 202210421799 A CN202210421799 A CN 202210421799A CN 114835043 A CN114835043 A CN 114835043A
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- force
- signal
- controller
- weight
- sensor
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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
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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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
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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
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/46—Control devices non-automatic electric
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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
- B66D1/54—Safety gear
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- Selective Calling Equipment (AREA)
Abstract
The invention discloses a force sensing lifting device and a control method, wherein the lifting device comprises a winch component, a force sensing handle component and a cable rope, two ends of the cable rope are respectively connected with the winch component and the force sensing handle component, a hanging component is connected onto the force sensing handle component, the winch component comprises a winch controller, a winch motor, a motor driver and a first wireless module, the winch controller is respectively and electrically connected with the motor driver and the first wireless module, the motor driver is electrically connected with the winch motor, the force sensing handle component comprises a handle controller, an unlocking module, a gravity sensor, an operating force sensor and a second wireless module, the handle controller is respectively and electrically connected with the unlocking module, the gravity sensor, the operating force sensor and the second wireless module, and the first wireless module and the second wireless module are in communication connection. The invention can realize the consistency of the movement trend of the heavy object and the operation intention under low power consumption, considers a redundancy control method and improves the operation convenience of the lifting equipment.
Description
Technical Field
The invention relates to the technical field of hoisting equipment, in particular to force induction lifting equipment and a control method.
Background
The most common lifting device in the prior art is an electric hoist, which requires one hand to control the weight and the other hand to control the handle when operated by a single person. When the heavy object needs to be controlled to carry out quick and accurate operation, the lifting movement speed of the heavy object cannot be regulated in a stepless manner, and the operation is very inconvenient. For example, lifting a heavy shaft, requiring insertion of the shaft into a hole, can be difficult to perform with precision, and can damage the shaft and hole.
In addition, the lifting device with the stepless speed regulation handle in the prior art uses a wired mode to connect the handle and the motor, and has a plurality of defects: 1. the wire is easy to collide with the cable to influence the lifting motion of the lifting equipment, and the wire is easy to be damaged due to long-term up-and-down motion. 2. Due to the existence of the electric wire, the free rotation of the operating handle is difficult to realize, the up-down operating range is limited, and the handle cannot be operated to a place too close to the motor and cannot be too far away from the motor. 3. The handle is adopted to control the lifting of the heavy object, so that the working reliability of the handle end is ensured, and the handle has a larger operation range for the driving device. 4. When the heavy object is lifted higher, the operation handle is inconvenient, a redundant control design is lacked, and a method for considering the redundant control from the perspective of a control system is also an important way for increasing the operation convenience of the lifting equipment system.
Disclosure of Invention
In order to solve the problems, the technical scheme provided by the invention is as follows:
a force sensing lifting device comprises a winch assembly, a force sensing handle assembly and a cable, wherein one end of the cable is connected with the winch assembly, the other end of the cable is connected with the force sensing handle assembly, a hanging assembly is connected onto the force sensing handle assembly, the winch assembly comprises a winch controller, a winch motor, a motor driver and a first wireless module, the winch controller is respectively and electrically connected with the motor driver and the first wireless module, the motor driver is electrically and electrically connected with the winch, the force sensing handle assembly comprises a handle controller, an unlocking module, a gravity sensor, an operating force sensor and a second wireless module, the handle controller is respectively and electrically connected with the unlocking module, the gravity sensor, the operating force sensor and the second wireless module, the first wireless module is in communication connection with the second wireless module.
The invention is further provided that the force sensing handle assembly comprises a shell, the upper end and the lower end of the shell are respectively provided with a connecting piece and a connecting rod, the gravity sensor is connected between the connecting piece and the connecting rod, the hanging assembly is connected to one end of the connecting rod far away from the gravity sensor, a holding part is sleeved outside the connecting rod, the operating force sensor is fixed in the shell and connected with the holding part, and the unlocking module is arranged between the holding part and the connecting rod.
The invention is further provided with an upper base plate and an external connecting piece in the shell, wherein the upper end of the gravity sensor and the upper end of the operating force sensor are both connected on the upper base plate, a sliding sleeve is arranged between the holding part and the connecting rod, one end of the external connecting piece is connected with the lower end of the operating force sensor, and the other end of the external connecting piece is connected with the sliding sleeve.
The invention is further provided that the outer surface of the sliding sleeve is provided with a groove, the unlocking module comprises a circuit and a lead which are arranged in the groove and an electrode which is arranged on the sliding sleeve, the electrode is connected to the circuit, and the circuit, the lead and the electrode form a capacitance induction sensor.
The invention is further configured such that the force sensing handle assembly further comprises a power supply module, a touch display screen and an emergency stop button, the power supply module is arranged in the housing, the touch display screen and the emergency stop button are respectively arranged on the surface of the housing, the power supply module respectively provides working voltages for the handle controller, the unlocking module, the gravity sensor, the operation force sensor, the second wireless module, the touch display screen and the emergency stop button, and the touch display screen and the emergency stop button are respectively electrically connected with the handle controller.
The invention is further provided that the connecting piece is connected with the gravity sensor by a movable rotating shaft.
The invention is further provided with a charging interface and a data communication interface on the shell.
A method for controlling a force-sensing lifting device, the lifting device comprising:
electrifying for initialization, and entering a low-power-consumption working state;
acquiring and responding to a handheld unlocking signal, interrupting a low-power-consumption working state, jumping to a normal working state, and receiving target data;
in a preset time, if a hand-held operation force signal is acquired, calculating according to the hand-held operation force signal to acquire an operation force direction signal and an operation force magnitude signal, sending the operation force direction signal and the operation force magnitude signal to a driving equipment controller, and outputting a corresponding rotation direction and a corresponding rotation speed to driving equipment by the driving equipment controller according to the operation force direction signal and the operation force magnitude signal; within a preset time, a hand-held operation force signal is not acquired, a normal working state is interrupted, a low-power-consumption working state is jumped to, and target data is stopped from being received;
and acquiring a gravity signal, and calculating to obtain weight information of the weight according to the gravity signal.
The invention is further arranged to further comprise:
under a normal working state, acquiring a first gravity signal of a weight, acquiring a suspension control instruction, acquiring a second gravity signal of the weight in real time, acquiring a force applied signal of the weight according to a difference value of the first gravity signal and the second gravity signal, calculating according to the force applied signal of the weight to obtain a force applied direction signal of the weight and a force applied signal of the weight, sending the force applied direction signal of the weight and the force applied signal of the weight to a driving device controller, and outputting a corresponding rotating direction and a corresponding rotating speed to the driving device by the driving device controller according to the force applied direction signal of the weight and the force applied signal of the weight.
The invention is further arranged to further comprise:
and under the normal working state, acquiring an emergency stop signal, sending the emergency stop signal to the driving equipment controller, and outputting a stop control signal to the driving equipment by the driving equipment controller.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
1. the control method of the force sensing lifting equipment adopts a hand-held awakening mode, the handle is in a low-power-consumption working state when not receiving a hand-held signal, and other target data are stopped being received in the low-power-consumption working state; the handle is awakened when receiving the hand-held signal, the low-power-consumption working state is interrupted, the normal working state is jumped to, the target data is received, and when the target data stops being input and the hand-held signal disappears for a certain time, the handle enters the low-power-consumption working state from the normal working state again. The handle adopts such operational mode can improve the duration of handle greatly, and the operator can take promptly and use, improves lifting means's simple operation nature.
2. The handle realizes that the movement trend of the heavy object is consistent with the operation intention through holding the operation force signal by hand, the operation of the heavy object is inconvenient to be controlled by holding the operation force signal by hand due to operation requirements or environmental restrictions, a suspension control method is also provided, after the heavy object is lifted, the weight of the heavy object is measured, a suspension control mode is actively selected or automatically entered, when the external force applied to the heavy object upwards or downwards can cause the change of the gravity signal, the difference between the weight of the heavy object and the measured value of the gravity after stress can obtain the magnitude and the direction of the force applied to the heavy object, the magnitude and the direction signal of the applied force are taken as the operation intention, the control on the movement trend of the heavy object is realized, the suspension control is very practical when the lifting height of the heavy object is higher and a user is inconvenient to touch the handle, and an operator can place attention on the controlled object, both hands are also liberated, and both hands can the coordinated action, control the rotatory gesture and the every single move gesture of heavy object, can be convenient carry out the meticulous operation of axle patchhole such, and just can realize the detection that the heavy object was exerted force by the gravity sensor of taking certainly, need not set up other devices more. The two operation modes realize the consistency of the movement trend of the heavy object and the operation intention, and a redundancy control method is considered from the perspective of a control system, so that the operation convenience of the lifting equipment system is improved.
3. The lifting equipment specifically realizes that the control signal transmission of the heavy object motion trend consistent with the operation intention is as follows: after the force sensing handle assembly is awakened, a user applies an upward/downward acting force to the force sensing handle assembly through operating the holding part, the operating force sensor detects the acting force on the holding part, converts the acting force into a handheld operating force signal and sends the handheld operating force signal to the handle controller, the handle controller calculates to obtain an operating force direction signal and an operating force magnitude signal, and sends the operating force direction signal and the operating force magnitude signal to the winch controller through the second wireless module and the first wireless module in a wireless mode, and the winch controller enables the winch motor to output a corresponding rotating direction and rotating speed according to the operating force direction signal and the operating force magnitude signal; similarly, the suspension control is that the user exerts the effort through the heavy object itself to after the suspension, and the handle controller is worth the size and the direction that the user exerted force to the heavy object according to the change of gravity signal around the gravity sensor, and the size and the direction signal that the handle controller exerted force to the heavy object send to the hoist controller through second wireless module and first wireless module wireless, and the hoist controller makes the corresponding direction of rotation and the slew velocity of hoist motor output according to the size and the direction signal of exerting force to the heavy object. The movement trend of the heavy object is consistent with the operation intention, so that accurate and efficient assembly can be realized; lightly taking and lightly placing the valuables; the lifting of the heavy object can be accelerated when the heavy object needs to be lifted quickly, the lifting of the heavy object can be slowed down when the heavy object needs to be lifted slowly, and the operation is very smooth and convenient.
4. The gravity sensor is connected with the hanging component at the lower end through the connecting rod so as to measure the weight of a heavy object, the upper end of the gravity sensor is connected with the connecting piece through the rotating shaft, and the handle can freely rotate relative to the connecting piece so as to facilitate the actual operation; the operation force sensor is connected with the holding part through the external connecting piece, so that the magnitude and the direction of the operation force are measured, the operation force sensor cannot generate displacement when measuring the operation force, the internal structure of the handle is in a stable state, the force sensing handle assembly has better reliability, and the safety of the operation of the lifting equipment is ensured; gravity sensor and operating force sensor can not influence each other, guarantee lifting means to the accurate measurement of heavy object and the collection precision of force sensing handle assembly to user operating force.
5. The unlocking module comprises a circuit and a wire which are arranged in a groove and an electrode which is arranged on the sliding sleeve, the electrode is connected to the circuit, the electrode, the circuit and the cable integrally form a capacitance induction sensor, the unlocking module must be operated by hands to form a capacitance between the capacitance induction sensor and the ground, the capacitance induction sensor can generate a handheld unlocking signal, and the mistaken unlocking of a force induction handle assembly caused by the fact that a holding part is touched by other objects by mistake is avoided.
Drawings
Fig. 1 is an electrical block diagram of a hoist assembly according to an embodiment of the present invention.
FIG. 2 is an electrical block diagram of a force sensing handle assembly according to an embodiment of the present invention.
FIG. 3 is a front view of a force sensing riser apparatus according to an embodiment of the present invention.
FIG. 4 is a perspective view of a force sensing handle assembly according to an embodiment of the present invention.
FIG. 5 is a perspective view of the internal structure of a force sensing handle assembly in accordance with an embodiment of the present invention.
FIG. 6 is a cross-sectional view of a force sensing handle assembly in accordance with an embodiment of the present invention.
Fig. 7 is an exploded view of a portion of a force sensing handle assembly according to an embodiment of the present invention.
Fig. 8 is a flowchart of a method for controlling a force sensing lifting device according to an embodiment of the present invention.
Fig. 9 is a flowchart of a method for controlling a force-sensing lift device after entering levitation control according to an embodiment of the present invention.
Fig. 10 is a flowchart illustrating an emergency stop of a method for controlling a force-sensing lift device according to an embodiment of the present invention.
Detailed Description
For a further understanding of the present invention, reference will now be made in detail to the embodiments illustrated in the drawings.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, integrally connected, or detachably connected; either mechanically or electrically, or internally communicating two elements; they may be directly connected or indirectly connected through an intermediate, and those skilled in the art will understand the specific meanings of the above terms according to specific situations.
Example 1
With reference to fig. 1 to 7, according to the technical scheme of the present invention, the force-sensing lifting device includes a winch assembly 100, a force-sensing handle assembly 200 and a cable 300, one end of the cable 300 is connected to the winch assembly 100, the other end of the cable 300 is connected to the force-sensing handle assembly 200, a hanging assembly 400 is connected to the force-sensing handle assembly 200, the winch assembly 100 includes a winch controller 101, a winch motor 102, a motor driver 103 and a first wireless module 104, the winch controller 101 is electrically connected to the motor driver 103 and the first wireless module 104, the motor driver 103 is electrically connected to the winch motor 102, the force-sensing handle assembly 200 includes a handle controller 201, an unlocking module 202, a gravity sensor 203, an operation force sensor 204 and a second wireless module 205, the handle controller 201 is electrically connected to the unlocking module 202, the gravity sensor 203, the operation force sensor 204 and the second wireless module 205, respectively, The gravity sensor 203, the operation force sensor 204, and the second wireless module 205 are electrically connected, and the first wireless module 104 is communicatively connected to the second wireless module 205.
In this embodiment, the hoist controller 101 outputs a control signal to the hoist motor 102 through the motor driver 103, specifically including a motor speed signal and a motor rotation signal; the winch assembly 100 further comprises a display screen 106 and a key input module 105, wherein the output end of the winch controller 101 is connected with the display screen 106, and the output end of the key input module 105 is connected with the input end of the winch controller 101.
In the present embodiment, when the force sensing handle assembly 200 is in the low power consumption state, the handle controller 201 receives the output wake-up signal of the unlocking module 202, and the signals other than the output wake-up signal of the unlocking module 202 all belong to the target data described in embodiment 2; the handle controller 201 can receive signals from the outputs of the gravity sensor 203 and the operating force sensor 204 when the force sensing handle assembly 200 is in a normal operating state.
In this embodiment, the first wireless module 104 and the second wireless module 205 adopt 2.4G wireless modules.
In this embodiment, the winch motor 102 is connected to the cable 300 through a winch, and the motor driver 103 is a speed regulator or a frequency converter, so as to achieve stepless speed regulation of the winch motor 102.
In this embodiment, the force sensing handle assembly includes a housing 206, a connecting member 207 and a connecting rod 208 are respectively disposed at upper and lower ends of the housing 206, the gravity sensor 203 is connected between the connecting member 207 and the connecting rod 208, the hanging assembly 400 is connected at one end of the connecting rod 208 far away from the gravity sensor 203, a holding portion 209 is sleeved outside the connecting rod 208, the operation force sensor 204 is fixed in the housing 206, the operation force sensor 204 is connected with the holding portion 209, and the unlocking module 202 is disposed between the holding portion 209 and the connecting rod 208. The gravity sensor 203 is directly connected to the lower suspension assembly 400 through the connection rod 208, thereby measuring the weight of the weight.
In this embodiment, an upper substrate 210 and an external connection member 211 are disposed in the housing 206, the upper end of the gravity sensor 203 and the upper end of the operation force sensor 204 are both connected to the upper substrate 210, a sliding sleeve 212 is further disposed between the holding portion 209 and the connecting rod 208, one end of the external connection member 211 is connected to the lower end of the operation force sensor 204, and the other end of the external connection member 211 is connected to the sliding sleeve 212. Operation force sensor 204 links to each other with the portion of gripping through outer alling piece 211 to measure the size and the direction of operating force, can not produce the displacement when operating force is surveyed to operation force sensor 204, make handle inner structure be in the stable state, make power sensing handle subassembly 200 have better reliability, guarantee the security of lifting means operation, gravity sensor 203 and operation force sensor 204 can not influence each other.
In this embodiment, the outer surface of the sliding sleeve 212 is provided with a groove 2121, the unlocking module 202 includes a circuit 2021 and a lead wire disposed in the groove 2121, and an electrode 2022 disposed on the sliding sleeve 212, the electrode 2022 is connected to the circuit 2021, and the circuit 2021, the lead wire, and the electrode 2022 form a capacitive sensing sensor. The unlocking module 202 must be operated by hands to form capacitance with the ground, and the capacitive sensing sensor can generate a hand-held unlocking signal to avoid the mistaken unlocking of the force sensing handle assembly 200 caused by other objects mistakenly touching the holding part.
In this embodiment, the force sensing handle assembly 200 further includes a power supply module 213, a touch display screen 214 and an emergency stop button 215, the power supply module 213 is disposed in the housing 206, the touch display screen 214 and the emergency stop button 215 are respectively disposed on the surface of the housing 206, the power supply module 213 respectively provides operating voltages for the handle controller 201, the unlocking module 202, the gravity sensor 203, the operation force sensor 204, the second wireless module 205, the touch display screen 214 and the emergency stop button 215, and the touch display screen 214 and the emergency stop button 215 are respectively electrically connected to the handle controller 201. The touch display screen can show the information of the weight and the weighing history information to the user at that time, and besides, the touch display screen can also be used as an input end, for example, in the suspension control mode in embodiment 1, the operation can be performed by touching the display screen; the emergency stop button is used for emergency braking of the lifting equipment, and the action of the winch component is stopped after the emergency stop button is pressed down.
In this embodiment, the connection member 207 is connected to the gravity sensor 203 by a movable shaft 2071. The handle can freely rotate relative to the connecting piece 207, so that the practical operation is convenient.
In this embodiment, the housing 206 is further provided with a charging interface and a data communication interface 216, the charging interface is electrically connected to the power supply module 213, and the data communication interface 216 is electrically connected to the handle controller 201.
The working mode of the lifting equipment is as follows: after the force sensing handle assembly is awakened, a user applies an upward/downward acting force to the force sensing handle assembly through operating the holding part, the operating force sensor detects the acting force on the holding part, converts the acting force into a handheld operating force signal and sends the handheld operating force signal to the handle controller, the handle controller calculates to obtain an operating force direction signal and an operating force magnitude signal, and sends the operating force direction signal and the operating force magnitude signal to the winch controller through the second wireless module and the first wireless module in a wireless mode, and the winch controller enables the winch motor to output a corresponding rotating direction and rotating speed according to the operating force direction signal and the operating force magnitude signal; similarly, the suspension control is that the user exerts the effort through the heavy object itself to after the suspension, and the handle controller is worth the size and the direction that the user exerted force to the heavy object according to the change of gravity signal around the gravity sensor, and the size and the direction signal that the handle controller exerted force to the heavy object send to the hoist controller through second wireless module and first wireless module wireless, and the hoist controller makes the corresponding direction of rotation and the slew velocity of hoist motor output according to the size and the direction signal of exerting force to the heavy object.
In a further embodiment, the hoisting device is further provided with a remote control, which belongs to an independent control terminal: the remote controller is provided with a small rocker to control the lifting of the winch component, a user operates the small rocker, the bottom end of the small rocker is connected with a miniature force sensor or a displacement sensor, and the magnitude and the direction of acting force are measured by collecting the miniature force sensor or the displacement sensor, so that the movement trend of a heavy object is consistent with the operation intention, and the principle is the same as the control of the handle.
The invention can be used in the scenes of heavy object assembly, cargo transportation and the like, adopts various redundant control modes of holding part operating force control and heavy object suspension control, and can be combined with a remote controller for remote control, thereby improving the scene application capability of the lifting equipment.
Example 2
With reference to fig. 8 to 10, a technical solution of the present invention is a method for controlling a force-sensing lifting apparatus, where the force-sensing lifting apparatus described in embodiment 1 is adopted, and the method includes:
the handle controller is powered on to be initialized and enters a low-power-consumption working state;
the handle controller acquires and responds to a handheld unlocking signal, interrupts a low-power-consumption working state, jumps to a normal working state and receives target data;
in a preset time, if the handle controller acquires a hand-held operation force signal, the handle controller calculates according to the hand-held operation force signal to obtain an operation force direction signal and an operation force magnitude signal, the handle controller sends the operation force direction signal and the operation force magnitude signal to the driving equipment controller, and the driving equipment controller outputs a corresponding rotation direction and a corresponding rotation speed to driving equipment according to the operation force direction signal and the operation force magnitude signal; in a preset time, the handle controller does not acquire a hand-held operation force signal, interrupts a normal working state, jumps to a low-power consumption working state, and stops receiving target data;
the handle controller obtains the gravity signal, and the handle controller calculates the weight information of the heavy object according to the gravity signal and displays the weight information.
In this embodiment, the method further includes: under a normal working state, the handle controller acquires a first gravity signal of a weight, the handle controller acquires a suspension control instruction, the handle controller acquires a second gravity signal of the weight in real time, the handle controller obtains a weight applied force signal according to a difference value of the first gravity signal and the second gravity signal, a weight applied force direction signal and a weight applied force magnitude signal are obtained through calculation according to the weight applied force signal, the handle controller sends the weight applied force direction signal and the weight applied force magnitude signal to the driving device controller, and the driving device controller outputs a corresponding rotating direction and rotating speed to the driving device according to the weight applied force direction signal and the weight applied force magnitude signal.
In this embodiment, the method further includes: under the normal working state, the handle controller acquires an emergency stop signal and sends the emergency stop signal to the driving equipment controller, and the driving equipment controller stops outputting a control signal to the driving equipment.
In this embodiment, the handheld unlocking signal is output by an external user triggering the unlocking sensor; the hand-held operation force signal realizes signal output by triggering the operation force sensor by an external user; the gravity signal is hung on the gravity sensor through an external weight to realize signal output.
In this embodiment, the floating control command may be entered through a touch display screen on the handle after the weight is suspended; or automatically entering a suspension control mode after sensing that the heavy object is suspended through an algorithm based on the gravity signal.
The suspension control principle is as follows: when the weight is hung to be half empty, the first gravity of the weight measured by the gravity sensor is F1, after the weight enters a suspension control mode, a user applies acting force to the weight, signals measured by the gravity sensor change, the second gravity of the weight measured by the gravity sensor is F2, the weight applying acting force F is calculated by calculating the difference value between the first gravity F1 and the second gravity F2, the weight applying acting force F is first gravity F1-second gravity F2, if the weight applying acting force F is a positive value, the user has pressing operation, the driving equipment is driven to act according to the magnitude of the weight applying acting force F, the weight descends, and the descending speed is related to the magnitude of the weight applying acting force F; if the weight applied acting force F is a negative value, the lifting operation of the user is indicated, the driving device is driven to move according to the weight applied acting force F, the weight is driven to move upwards, and the ascending speed is related to the weight applied acting force F. Wherein, the absolute value of the acting force F exerted by the heavy object meets the condition of a set threshold value, and the control motor is started to operate; the threshold value lower threshold value avoids frequent positive and negative rotation of the motor caused by small disturbance; the upper threshold avoids dangerous conditions resulting from faulty operation.
In the suspension control method, when an operator controls a heavy object to fall to the ground, the pulling force is suddenly reduced and even becomes 0, the handle controller detects and identifies the falling event, the suspension mode is quitted, and the rebound motion after falling to the ground is avoided.
In this embodiment, the target data includes, but is not limited to, the above-mentioned hand-held unlocking signal, hand-held operation force signal, gravity signal and levitation control command.
In the embodiment, the operation intention of applying force to the heavy object after entering the suspension control mode does not affect the operation intention of applying the operation force to the handle, namely the operation intention can be applied by the handle after entering the suspension control mode, the two operation modes can simultaneously realize that the movement trend of the heavy object is consistent with the operation intention, a redundant control method is considered from the perspective of a control system, and the operation convenience of the lifting equipment system is improved.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (10)
1. A force sensing lifting device is characterized by comprising a winch assembly, a force sensing handle assembly and a cable, wherein one end of the cable is connected with the winch assembly, the other end of the cable is connected with the force sensing handle assembly, a hanging assembly is connected onto the force sensing handle assembly, the winch assembly comprises a winch controller, a winch motor, a motor driver and a first wireless module, the winch controller is respectively and electrically connected with the motor driver and the first wireless module, the motor driver is electrically connected with the winch motor, the force sensing handle assembly comprises a handle controller, an unlocking module, a gravity sensor, an operating force sensor and a second wireless module, the handle controller is respectively and electrically connected with the unlocking module, the gravity sensor, the operating force sensor and the second wireless module, the first wireless module is in communication connection with the second wireless module.
2. The force sensing lifting device according to claim 1, wherein the force sensing handle assembly comprises a housing, a connecting member and a connecting rod are respectively disposed at upper and lower ends of the housing, the gravity sensor is connected between the connecting member and the connecting rod, the hanging assembly is connected at one end of the connecting rod away from the gravity sensor, a holding portion is sleeved outside the connecting rod, the operating force sensor is fixed in the housing and connected with the holding portion, and the unlocking module is disposed between the holding portion and the connecting rod.
3. The force sensing lifting device according to claim 2, wherein an upper base plate and an outer coupling member are provided in the housing, the upper end of the gravity sensor and the upper end of the operation force sensor are both connected to the upper base plate, a sliding sleeve is further provided between the grip portion and the connecting rod, one end of the outer coupling member is connected to the lower end of the operation force sensor, and the other end of the outer coupling member is connected to the sliding sleeve.
4. The force sensing lifting device of claim 3, wherein the outer surface of the sliding sleeve defines a groove, the unlocking module comprises a circuit and a lead disposed in the groove and an electrode disposed on the sliding sleeve, the electrode is connected to the circuit, and the circuit, the lead and the electrode form a capacitive sensing sensor.
5. The force sensing lifting device of claim 2, wherein the force sensing handle assembly further comprises a power module, a touch display screen, and an emergency stop button, the power module is disposed within the housing, the touch display screen and the emergency stop button are disposed on a surface of the housing, the power module provides operating voltages for the handle controller, the unlocking module, the gravity sensor, the operating force sensor, the second wireless module, the touch display screen, and the emergency stop button, respectively, and the touch display screen and the emergency stop button are electrically connected to the handle controller, respectively.
6. A force sensing lifting device according to claim 2 wherein the connection member is pivotally connected to the gravity sensor.
7. The force sensing lifting device of claim 2, wherein the housing further comprises a charging interface and a data communication interface.
8. A force sensitive lifting device control method, characterized in that the force sensitive lifting device of any of claims 1 to 7 is used, comprising:
electrifying for initialization, and entering a low-power-consumption working state;
acquiring and responding to a handheld unlocking signal, interrupting a low-power-consumption working state, jumping to a normal working state, and receiving target data;
in a preset time, if a hand-held operation force signal is acquired, calculating according to the hand-held operation force signal to acquire an operation force direction signal and an operation force magnitude signal, sending the operation force direction signal and the operation force magnitude signal to a driving equipment controller, and outputting a corresponding rotation direction and a corresponding rotation speed to driving equipment by the driving equipment controller according to the operation force direction signal and the operation force magnitude signal; within a preset time, a hand-held operation force signal is not acquired, a normal working state is interrupted, a low-power-consumption working state is jumped to, and target data is stopped from being received;
and acquiring a gravity signal, and calculating to obtain weight information of the weight according to the gravity signal.
9. The method of claim 8, further comprising:
under a normal working state, acquiring a first gravity signal of a weight, acquiring a suspension control instruction, acquiring a second gravity signal of the weight in real time, acquiring a force applied signal of the weight according to a difference value of the first gravity signal and the second gravity signal, calculating according to the force applied signal of the weight to obtain a force applied direction signal of the weight and a force applied signal of the weight, sending the force applied direction signal of the weight and the force applied signal of the weight to a driving device controller, and outputting a corresponding rotating direction and a corresponding rotating speed to the driving device by the driving device controller according to the force applied direction signal of the weight and the force applied signal of the weight.
10. The method of claim 8, further comprising:
and under the normal working state, acquiring an emergency stop signal, sending the emergency stop signal to the driving equipment controller, and outputting a stop control signal to the driving equipment by the driving equipment controller.
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