CN117699662A - Lifting mechanism control method, equipment, system and storage medium - Google Patents

Abstract

The application discloses a control method, equipment, a system and a storage medium of a lifting mechanism, which relate to the technical field of electrical control, wherein the method comprises the following steps: after the lifting mechanism starts to work, the tightness state of the connecting rope in the lifting mechanism is obtained; the tightness state includes a relaxed state or a tensioned state; determining the current working stage of the lifting mechanism according to the tightness state; the current working phase comprises a lifting phase, a stable operation phase or a falling ground contact phase; determining the running speed of the lifting mechanism according to the current working stage; and controlling the operation of the lifting mechanism according to the operation speed. The lifting mechanism is controlled to operate at different stages and different operation speeds, stable lifting load is achieved, compared with the situation that the lifting mechanism is driven to operate by manually operating the lifting driving control system, safety accidents caused by improper operation cannot occur, the technical problem that the lifting mechanism is driven to operate by manually operating the lifting driving control system in the prior art is solved, and the reliability of control of the lifting mechanism is improved.

Description

Lifting mechanism control method, equipment, system and storage medium

Technical Field

The present disclosure relates to the field of electrical control technologies, and in particular, to a method, an apparatus, a system, and a storage medium for controlling a lifting mechanism.

Background

In the hoisting equipment, the working principle of the hoisting mechanism is that a hoisting driving control system drives a hoisting motor to rotate positively or reversely, so that a load moves and stops along with a hoisting assembly in a stroke range specified in the vertical direction.

In the related art, a crane operator operates an operating device in a lifting driving control system according to the working requirement, and controls a lifting motor in the lifting driving control system to drive a lifting mechanism to operate by switching corresponding speed gears in a load lifting stage, a stable operation stage and a falling ground contact stage, so that stable lifting to a designated position is realized. However, the lifting mechanism is driven to operate by manually operating the lifting driving control system, and the reliability is low if safety accidents are easily caused by improper operation depending on the skills and experience of operators.

Disclosure of Invention

The main purpose of the present application is: the control method, the control equipment, the control system and the storage medium for the lifting mechanism are provided, and the control method, the control equipment, the control system and the storage medium for the lifting mechanism aim to solve the technical problems that the lifting mechanism is driven to operate by manually operating the lifting driving control system and the reliability is low in the prior art.

In order to achieve the above purpose, the present application adopts the following technical scheme:

in a first aspect, the present application provides a method for controlling a lifting mechanism, where the method includes:

After the lifting mechanism starts to work, the tightness state of the connecting rope in the lifting mechanism is obtained; the tightness state includes a relaxed state or a tensioned state;

determining the current working stage of the lifting mechanism according to the tightness state; the current working phase comprises a lifting phase, a stable operation phase or a falling ground contact phase;

determining the running speed of the lifting mechanism according to the current working stage;

and controlling the operation of the lifting mechanism according to the operation speed.

Optionally, the step of determining the current working stage of the hoisting mechanism according to the tightness state includes:

determining the current working stage of the lifting mechanism according to the tightness state and the running state parameters of the lifting mechanism; the running state parameters comprise one or more of the current running direction of the lifting motor corresponding to the lifting mechanism, the duration time of the tensioning state and the ground distance of the lifting mechanism.

Optionally, the step of determining the current working stage of the lifting mechanism according to the tightness state and the running state parameter of the lifting mechanism includes:

if the tightness state is a loose state, determining the current running direction of a lifting motor corresponding to the lifting mechanism;

if the current running direction is a first preset running direction corresponding to the lifting state of the lifting mechanism, determining that the current working stage is a lifting stage;

Determining the running speed of the lifting mechanism according to the current working stage, wherein the step comprises the following steps:

determining the running speed as a first preset running speed according to the lifting stage;

according to the running speed, controlling the running of the lifting mechanism, comprising the following steps:

and controlling the lifting mechanism to operate according to the first preset operating speed.

Optionally, after the step of controlling the operation of the hoisting mechanism according to the first preset operation speed, the method further includes:

after the lifting mechanism operates for a first preset time period, controlling the lifting mechanism to operate according to a preset maximum operation speed of the lifting mechanism; the first preset running speed is smaller than the preset maximum running speed.

Optionally, after the step of controlling the operation of the hoisting mechanism according to the first preset operation speed, the method further includes:

when the change of the torque of the lifting motor is detected, acquiring the first torque fluctuation amount of the lifting motor within a second preset time period after the moment of the torque change;

if the first torque fluctuation amount is larger than or equal to the first fluctuation amount threshold value, controlling the lifting mechanism to operate according to the second preset operation speed; the second preset running speed is smaller than the first preset running speed.

Optionally, the step of determining the current working stage of the lifting mechanism according to the tightness state and the running state parameter of the lifting mechanism includes:

If the tightness state is a tensioning state and the duration time of the tensioning state is greater than or equal to a first preset duration time threshold value, determining that the current working stage is a stable operation stage;

determining the running speed of the lifting mechanism according to the current working stage, wherein the step comprises the following steps:

according to the stable operation stage, determining that the operation speed is the preset maximum operation speed of the lifting mechanism;

according to the running speed, controlling the running of the lifting mechanism, comprising the following steps:

and controlling the operation of the lifting mechanism according to the preset maximum operation speed.

Optionally, after the step of controlling the operation of the hoisting mechanism according to the preset maximum operation speed, the method further includes:

acquiring a second torque fluctuation amount of the lifting motor;

and if the second torque fluctuation amount is greater than or equal to the second fluctuation amount threshold value, and the duration time of the second torque fluctuation amount greater than or equal to the second fluctuation amount threshold value is greater than or equal to a second preset duration time threshold value, controlling the lifting mechanism to stop running.

Optionally, the step of determining the current working stage of the lifting mechanism according to the tightness state and the running state parameter of the lifting mechanism includes:

if the tightness state is a tensioning state, determining the current running direction of a lifting motor of the lifting mechanism;

If the current running direction is a second preset running direction corresponding to the descending state of the lifting mechanism, detecting the ground distance of the lifting mechanism;

if the detected ground distance is smaller than or equal to the preset distance threshold value, determining that the current working stage is a falling ground contact stage;

determining the running speed of the lifting mechanism according to the current working stage, wherein the step comprises the following steps:

determining the running speed as a third preset running speed according to the falling ground contact stage;

according to the running speed, controlling the running of the lifting mechanism, comprising the following steps:

controlling the lifting mechanism to operate according to the third preset operation speed; the third preset running speed is smaller than the preset maximum running speed of the lifting mechanism.

Optionally, before the step of determining that the operation speed is the third preset operation speed according to the touchdown stage, the method further includes:

acquiring the current running speed of the lifting mechanism;

and if the current running speed reaches the preset maximum running speed of the lifting mechanism, executing the step of determining that the running speed is the third preset running speed according to the falling ground contact stage.

Optionally, after the step of controlling the operation of the hoisting mechanism according to the third preset operation speed, the method further includes:

When the change of the torque of the lifting motor is detected, acquiring a third torque fluctuation amount of the lifting motor within a third preset time period after the moment of the torque change;

if the third torque fluctuation amount is larger than or equal to the third fluctuation amount threshold value, controlling the lifting mechanism to operate according to a fourth preset operation speed; the fourth preset running speed is smaller than the third preset running speed.

In a second aspect, the present application further provides a hoisting mechanism control apparatus, the apparatus comprising: the system comprises a memory, a processor and a lifting mechanism control program stored on the memory and capable of running on the processor, wherein the lifting mechanism control program is configured to realize the steps of any lifting mechanism control method.

In a third aspect, the present application further provides a control system for a lifting mechanism, the system comprising:

a lifting mechanism;

a lifting motor connected with the lifting mechanism;

the lifting mechanism control equipment is connected with the lifting motor.

In a fourth aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, the computer program when executed by a processor performing the steps of the method for controlling a lifting mechanism as described in any one of the above.

The application provides a control method, equipment, a system and a storage medium for a lifting mechanism, wherein after the lifting mechanism starts to work, the tightness state of a connecting rope in the lifting mechanism is obtained; the tightness state includes a relaxed state or a tensioned state; determining the current working stage of the lifting mechanism according to the tightness state; the current working phase comprises a lifting phase, a stable operation phase and a falling ground contact phase; determining the running speed of the lifting mechanism according to the current working stage; and controlling the operation of the lifting mechanism according to the operation speed.

Therefore, the hoisting mechanism is controlled to operate through different operation speeds according to the tightness state of the connecting rope when the hoisting mechanism is determined to operate in different working phases, so that the hoisting mechanism is controlled to operate at different operation speeds automatically according to the operation process of the hoisting mechanism, stable hoisting load is realized, compared with the hoisting driving control system operated manually to drive the hoisting mechanism to operate, the situation that safety accidents are caused due to improper operation can not occur, and the reliability of the control of the hoisting mechanism is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from the structures shown in these drawings without inventive effort to a person skilled in the art.

Fig. 1 is a control system for a lifting mechanism according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a hoisting mechanism control device in a hardware operation environment according to an embodiment of the present application;

fig. 3 is a schematic flow chart of a control method of a lifting mechanism according to an embodiment of the present application.

The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a device or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such device or system. Without further limitation, an element defined by the phrase "comprising … …" does not exclude that an additional identical element is present in a device or system comprising the element.

If there is a description of "first," "second," etc. in an embodiment of the present application, the description of "first," "second," etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.

In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the protection scope of the present application.

In view of the technical problem that the existing hoisting mechanism is driven to operate by manually operating the hoisting driving control system, the reliability is low, the application provides a control method of the hoisting mechanism, and the general thought is as follows:

the method comprises the following steps: after the lifting mechanism starts to work, the tightness state of the connecting rope in the lifting mechanism is obtained; the tightness state includes a relaxed state or a tensioned state; determining the current working stage of the lifting mechanism according to the tightness state; the current working phase comprises a lifting phase, a stable operation phase or a falling ground contact phase; determining the running speed of the lifting mechanism according to the current working stage; and controlling the operation of the lifting mechanism according to the operation speed.

According to the control method of the lifting mechanism, when the lifting mechanism is determined to operate in different working stages according to the tightness state of the connecting rope, the lifting mechanism is controlled to operate through different operation speeds, so that the lifting mechanism is automatically controlled to operate at different operation speeds according to the operation process of the lifting mechanism, stable lifting load is achieved, compared with the situation that the lifting mechanism is driven to operate by manually operating the lifting drive control system, safety accidents caused by improper operation cannot occur, and the control reliability of the lifting mechanism is improved.

The following describes in detail a control method, a device, a system and a storage medium of a lifting mechanism applied in the implementation of the technology of the application:

referring to fig. 1, fig. 1 is a control system for a lifting mechanism according to an embodiment of the present application. The embodiment provides a control system for a lifting mechanism, where the system may include:

a lifting mechanism;

a lifting motor connected with the lifting mechanism;

the lifting mechanism control equipment is connected with the lifting motor.

In this embodiment, the lifting mechanism (not shown in the figure) may move and stop along with the lifting assembly within a travel range specified in the vertical direction, so as to implement load lifting. The lifting motor M can drive the lifting mechanism to operate under the control of the lifting mechanism control equipment. The hoisting mechanism control apparatus may be a variable frequency drive as shown in fig. 1.

As shown in fig. 1, the control system of the hoisting mechanism may further include a limiting device, where the limiting device may be disposed on the hoisting assembly according to the actual travel range requirement. When the lifting mechanism runs to the position where the limiting device is located, the limiting device can be triggered to output a limiting signal to the lifting mechanism control equipment, so that the lifting mechanism control equipment can control the lifting mechanism to stop running according to the limiting signal, and limiting of the lifting mechanism is achieved.

The lifting mechanism control system can also comprise an encoder, the encoder is respectively connected with the lifting motor and the lifting mechanism control equipment, and the encoder can feed back the running position of the lifting mechanism to the lifting mechanism control equipment by monitoring the rotating position of the lifting motor.

The hoisting mechanism control system can also comprise an overload limiter, wherein the overload limiter is connected with the hoisting mechanism control equipment, and can be used for monitoring whether the hoisting mechanism is overloaded and outputting an overload limiting signal to the hoisting mechanism control equipment, so that the hoisting mechanism control equipment can control the operation state of the hoisting mechanism according to the overload limiting signal. For example, when the lifting mechanism is overloaded, the lifting mechanism is controlled to stop running, so that the overload running damage of the lifting mechanism is prevented, and the safety problem is caused.

The lifting mechanism control system can further comprise a brake enabling contactor and a brake, wherein the brake enabling contactor is respectively connected with the lifting mechanism control device and the brake, and the lifting mechanism control device can output a brake signal DO to control the brake enabling contactor to enable or stop enabling the brake so as to realize braking of the lifting mechanism.

The control system of the lifting mechanism can also comprise an operation device and a control device, wherein the operation device is connected with the control equipment of the lifting mechanism through the control device, and an operator manually controls the operation device according to the practical use requirement and controls the lifting mechanism to start to operate through the control device. The control device can also be respectively connected with the limiting device and the overload limiter, and the limiting device and the overload limiter are enabled. The control device may include a controller PLC or an upper computer.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a hoisting mechanism control device of a hardware operation environment according to an embodiment of the present application.

As shown in fig. 2, the apparatus may include: a processor 1001, such as a CPU, a user interface 1003, a memory 1005, and a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a hoist motor, a brake-enabling contactor, a limit stop, an overload limiter, etc., and optionally the user interface 1003 may also be a Display screen (Display), an input unit such as a Keyboard (Keyboard), etc. The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.

It is to be appreciated that the device can also include a network interface 1004, and that the network interface 1004 can optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). Optionally, the device may also include RF (Radio Frequency) circuitry, sensors, audio circuitry, wiFi modules, and the like.

It will be appreciated by those skilled in the art that the apparatus structure shown in fig. 1 is not limiting of the apparatus and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.

The following describes a control method of the lifting mechanism and a storage medium in detail with reference to the drawings and the detailed description.

Based on the above hardware structure, but not limited to the above hardware structure, referring to fig. 3, fig. 3 is a flow chart of a control method of a lifting mechanism according to an embodiment of the present application.

The embodiment provides a control method for a lifting mechanism, which may include:

step S100: and after the lifting mechanism starts to work, the tightness state of the connecting rope in the lifting mechanism is obtained.

Wherein the tightness state comprises a relaxed state or a tensioned state.

Step S200: and determining the current working stage of the lifting mechanism according to the tightness state.

The current working stage comprises a lifting stage, a stable operation stage or a falling ground-touching stage.

Step S300: and determining the running speed of the lifting mechanism according to the current working stage.

Step S400: and controlling the operation of the lifting mechanism according to the operation speed.

In this embodiment, the execution body may be the hoisting mechanism control apparatus described above. The connecting rope can be a steel wire rope and is used for connecting the load and the lifting mechanism. The steady operation phase may include a rising state and a falling state.

In the operation process of the lifting mechanism, in the lifting stage, the load is not separated from the ground, and the connecting rope is in a loose state. In a rising state, the lifting mechanism drives the load to move upwards, the load is lifted off, and the connecting rope is in a tensioning state. In a descending state, the lifting mechanism drives the load to run downwards, the load is separated from the ground, and the connecting rope is in a tensioning state. In the falling ground contact stage, the load touches the ground, and the connecting rope is changed from a tensioning state to a loosening state.

It will be appreciated that in the lifting phase, in order to avoid high-speed off-lift of the load, a large load impact is generated on the mechanical structure of the lifting mechanism, which results in shaking of the lifting mechanism, requiring a lower operating speed of the lifting mechanism. In the ascending state and the descending state, in order to realize rapid hoisting of the load, the hoisting mechanism is required to have a higher running speed. In the falling and grounding stage, after the load touches the ground, the lifting mechanism is required to run slowly until the load falls to the ground completely. Namely, when the lifting mechanism operates in the lifting stage, the stable operation stage and the falling and grounding stage, the lifting mechanism is controlled to operate through different operation speeds, so that the stable lifting load is realized. The running speeds of the lifting mechanism corresponding to different working stages can be set according to actual use requirements. In general, in the lifting stage and the falling and grounding stage, the lifting mechanism is controlled to run at a small speed, so that the load is prevented from rising off at a high speed and falling to the ground instantly, and in the stable running stage, the lifting mechanism is controlled to run at a low speed, so that the load is quickly lifted.

It should be noted that the load weight will change, and the torque of the lifting motor changes due to the change of the load weight, so that the tension state of the connecting rope can be determined according to the torque of the lifting motor, if the torque of the lifting motor is greater than or equal to the preset torque threshold, the connecting rope is in a tension state, and if the torque of the lifting motor is less than the preset torque threshold, the connecting rope is in a loose state. The preset torque threshold is set according to actual use conditions. In general, the preset torque threshold may be determined based on the weight of the load.

The embodiment provides a control method for the lifting mechanism, which is characterized in that when the lifting mechanism is determined to operate in different working stages according to the tightness state of a connecting rope, the lifting mechanism is controlled to operate through different operation speeds, so that the lifting mechanism is automatically controlled to operate at different operation speeds according to the operation process of the lifting mechanism, stable lifting load is realized, compared with the condition that the lifting mechanism is driven to operate by manually operating a lifting drive control system, safety accidents caused by improper operation cannot occur, and the control reliability of the lifting mechanism is improved.

As an embodiment, step S200 may include:

step S210: determining the current working stage of the lifting mechanism according to the tightness state and the running state parameters of the lifting mechanism; the running state parameters comprise one or more of the current running direction of the lifting motor corresponding to the lifting mechanism, the duration time of the tensioning state and the ground distance of the lifting mechanism.

In this embodiment, in order to determine the current working stage of the hoisting mechanism more accurately, the operation state parameter of the hoisting mechanism may be determined based on the tightness state of the connecting rope and in combination with the operation state parameter of the hoisting mechanism, where the operation state parameter of the hoisting mechanism includes one or more of the current operation direction of the hoisting motor corresponding to the hoisting mechanism, the duration time in the tensioning state, and the ground distance of the hoisting mechanism.

For example, if the connecting rope is in a loose state and the current running direction of the lifting motor is the direction corresponding to the lifting state of the driving lifting mechanism, determining the current working stage of the lifting mechanism as a lifting stage; if the connecting rope is in a tensioning state and the duration time of the connecting rope in the tensioning state is greater than or equal to a preset duration time threshold value, determining that the lifting mechanism is in a stable driving load ascending or descending stage, namely the current working stage of the lifting mechanism is a stable operation stage; if the connecting rope is in a tensioning state, the current running direction of the lifting motor is the direction corresponding to the descending state of the driving lifting mechanism, and the ground distance of the lifting mechanism is smaller than or equal to a preset distance threshold value, the current working stage of the lifting mechanism is determined to be a descending ground contact stage. In the embodiment, the current working stage of the lifting mechanism is determined based on the tightness state of the connecting rope and combined with the running state parameters of the lifting mechanism, so that the determination of the current working stage of the lifting mechanism is more accurate, misjudgment caused when the current working stage of the lifting mechanism is determined only through the tightness state of the connecting rope is avoided, the running speed of each working stage is determined wrongly, the lifting mechanism is lifted or touched on the ground at a high speed, safety accidents are easily caused, and the control reliability of the lifting mechanism is improved.

As an embodiment, step S210 may include:

step S211: if the tightness state is a loose state, determining the current running direction of the lifting motor corresponding to the lifting mechanism.

Step S212: if the current running direction is the first preset running direction corresponding to the lifting state of the lifting mechanism, determining the current working stage as the lifting stage.

Step S300 may include:

step S310: and determining the running speed as a first preset running speed according to the lifting stage.

Step S400 may include:

step S410: and controlling the lifting mechanism to operate according to the first preset operating speed.

The first preset running speed is smaller than the preset maximum running speed.

In this embodiment, in both the lifting phase and the falling ground contact phase, the tightness state of the connecting rope is a loose state, and at this time, the current working phase can be further determined according to the current running direction of the lifting motor.

Specifically, the running direction of the lifting motor corresponds to the running state of the lifting mechanism, when the lifting motor rotates forward to correspond to the lifting state of the lifting mechanism, the lifting motor rotates reversely to correspond to the descending state of the lifting mechanism, otherwise, when the lifting motor rotates forward to correspond to the descending state of the lifting mechanism, the lifting motor rotates reversely to correspond to the lifting state of the lifting mechanism. Therefore, the lifting mechanism can be judged to operate in a rising state or a falling state according to the current operation direction of the lifting motor, so that the current operation stage is determined.

When the torque of the lifting motor is detected to be smaller than the preset torque threshold, if the running direction of the lifting motor is the first preset running direction, the corresponding lifting mechanism runs in a lifting state, and the current working stage is a lifting stage. The first preset running direction and the second preset running direction are determined according to actual use requirements.

It can be understood that after the lifting mechanism starts to work under the control of the operating device, each part in the control system of the lifting mechanism is enabled, the control equipment of the lifting mechanism can directly control the operation of the lifting motor according to the corresponding speed level of the operating device, and at the moment, if the corresponding speed level of the operating device is higher, the lifting motor starts to operate and can drive the lifting mechanism to directly start at a high speed, so that the load rises at a high speed, and a larger load impact is generated on the mechanical structure of the lifting mechanism, so that the lifting mechanism shakes. Therefore, in the embodiment, after the lifting mechanism starts to work, the connecting rope in the lifting mechanism is judged to be in a loose state, and when the running direction of the lifting motor is the running direction corresponding to the lifting state of the lifting mechanism, the current working stage of the lifting mechanism is determined to be a lifting stage, and the lifting mechanism is controlled to run at a first preset running speed, so that the load is prevented from being lifted off the ground at a high speed.

Further, after step S410, the method may further include: and after the lifting mechanism operates for a first preset time period, controlling the lifting mechanism to operate according to a preset maximum operation speed of the lifting mechanism.

In this embodiment, after the lifting mechanism operates at the first preset operation speed for a first preset time period, the load is completely lifted off the ground, and thereafter, the lifting mechanism is controlled to operate at the preset maximum operation speed, so as to implement rapid lifting of the load.

The first preset running speed, the preset maximum running speed and the first preset duration are all set according to actual use requirements.

In an example, the operation speed of the lifting mechanism can be divided into four sections of operation speeds from small to large, the first preset operation speed is the second section of operation speed, the preset maximum operation speed is the fourth section of operation speed, the fourth section of operation speed is the full speed, the second section of operation speed is half of the full speed, and the first preset time period is 5s. After the lifting mechanism starts to work, the lifting mechanism control equipment judges that a connecting rope in the lifting mechanism is in a loose state, the running direction of a lifting motor is the running direction corresponding to the lifting state of the lifting mechanism, the current working stage is determined to be a lifting stage, the lifting mechanism is controlled to run at a second stage speed, the lifting mechanism is prevented from driving a load to leave the ground at a high speed, after the lifting mechanism runs at the second stage speed for 5 seconds, the lifting mechanism is controlled to run at a fourth stage speed, and after the lifting mechanism drives the load to leave the ground, the load is driven to rise at a high speed. It can be understood that when the lifting mechanism rises to the highest position, the limiting device can be triggered to generate a limiting signal, the lifting mechanism control equipment controls the lifting mechanism to stop running according to the limiting signal, and the operating device can also be controlled by an operator according to actual use requirements so as to control the lifting mechanism to stop running.

Further, after step S410, the method may further include: when the torque of the lifting motor of the lifting mechanism is detected to change, acquiring the first torque fluctuation amount of the lifting motor within a second preset time after the moment of torque change; and if the first torque fluctuation amount is greater than or equal to the first fluctuation amount threshold value, controlling the lifting mechanism to operate according to the second preset operation speed.

The second preset running speed is smaller than the first preset running speed.

In this embodiment, in the lifting stage, if the first preset running speed is too low, the load needs a longer time to leave the ground, resulting in lower lifting efficiency of the load, so that the first preset running speed is not too small, and thus, in the lifting process of the lifting mechanism at the first preset running speed, when the load leaves the ground, the connecting rope can be quickly changed from a loose state to a tensioned state, and load impact may be generated on the mechanical structure of the lifting mechanism, resulting in shaking of the lifting mechanism. Therefore, when the connecting rope is rapidly changed from a loose state to a tension state, the running speed of the lifting mechanism is further reduced, the running of the lifting mechanism is controlled at a second preset running speed, and the mechanical structure shaking of the lifting mechanism is further reduced.

When the connection rope starts to change from the loose state to the tension state, the load starts to be lifted off the ground, and the torque of the hoisting motor changes due to the weight change of the load. At this time, when the torque change of the lifting motor is detected, after the moment of the torque change is recorded, the first torque fluctuation amount of the lifting motor within a second preset time period, when the first torque fluctuation amount is greater than or equal to a first fluctuation amount threshold value, the load is judged to start to leave the ground, and then the lifting mechanism is controlled to operate at a second preset operation speed, so that the load is driven to leave the ground at the second preset operation speed. The second preset running speed, the first fluctuation amount threshold and the second preset duration are all set according to actual use requirements.

It can be understood that the lifting mechanism can detect the torque of the lifting motor in real time in the operation process of the lifting stage, and the moment when the detected torque of the lifting motor is greater than or equal to the preset torque threshold value is used as the moment of torque change.

Continuing with the above example, the rotational speed of the lifting motor corresponding to the second preset running speed may be set to be 4Hz. After the lifting mechanism starts to work, the lifting mechanism control equipment judges that a connecting rope in the lifting mechanism is in a loose state, the running direction of a lifting motor is the running direction corresponding to the lifting state of the lifting mechanism, determines that the current working stage is a lifting stage, and controls the lifting mechanism to run at the second stage speed. When the torque change of the lifting motor is detected, the first torque fluctuation amount in a second preset time period after the torque change moment is obtained, and when the first torque fluctuation amount is judged to be larger than or equal to a first fluctuation amount threshold value, the lifting mechanism is controlled to operate at a second preset operation speed, so that the lifting mechanism drives a load to be stably lifted off the ground. After the lifting mechanism runs for 5 seconds, the lifting mechanism is controlled to run at the fourth section speed, so that the lifting mechanism drives the load to lift up at a high speed after the load is driven to leave the ground.

As another embodiment, step S210 may include:

step S213: if the tightness state is the tensioning state, determining the current running direction of a lifting motor of the lifting mechanism.

Step S214: and if the current running direction is a second preset running direction corresponding to the descending state of the lifting mechanism, detecting the ground distance of the lifting mechanism.

Step S215: if the detected ground distance is smaller than or equal to the preset distance threshold value, determining that the current working stage is a falling ground contact stage.

Step S300 may include:

step S320: and determining the running speed as a third preset running speed according to the ground contact descending stage.

Step S400 may include:

step S420: and controlling the lifting mechanism to operate according to the third preset operation speed.

The third preset running speed is smaller than the preset maximum running speed of the lifting mechanism.

In this embodiment, in the descending process of the lifting mechanism, if the load touches the ground at an excessive instant speed, the lifting mechanism is suddenly unloaded, so that the mechanical structure of the lifting mechanism is also triggered to shake, and if the lifting mechanism drives the load to touch the ground at a high speed for a long time, the mechanical structure of the lifting mechanism is damaged, resulting in a safety problem. Therefore, when the current operation stage of the lifting mechanism is the falling and grounding stage, the operation speed of the lifting mechanism can be reduced to reduce the speed of the load during grounding, and the load is prevented from grounding at a high speed for a long time, so that the mechanical structure of the lifting mechanism is prevented from being damaged. The third preset running speed can be set according to actual use requirements.

It can be understood that when the connecting rope is in a tensioning state, the lifting mechanism can be judged to operate in a lifting state or a descending state according to the current operation direction of the lifting motor. And when the connecting rope is in a tensioning state, the distance between the load and the lifting mechanism is fixed, so that whether the load is close to the ground or not can be determined by judging whether the ground-to-ground distance of the lifting mechanism is smaller than or equal to a preset distance threshold value, and whether the lifting motor enters a falling ground-touching stage or not is determined. When the load is determined to be close to the ground, the lifting mechanism is controlled to operate at a third preset operation speed which is smaller than the preset maximum operation speed, so that the operation speed of the lifting mechanism is reduced, and the load is prevented from touching the ground at a high speed. The preset distance threshold and the third preset running speed can be set according to time use conditions. Preferably, the third preset operating speed is the same as the first preset operating speed.

In the concrete implementation, in the descending process of the lifting mechanism, when the tightness state of the connecting rope is judged to be a tensioning state and the current running direction is a second preset running direction, the lifting mechanism is determined to be in a descending state, and at the moment, if the ground distance of the lifting mechanism is detected to be smaller than or equal to a preset distance threshold value, the lifting mechanism is determined to enter a descending ground contact stage.

Further, before step S320, the method may further include: acquiring the current running speed of the lifting mechanism; and if the current running speed reaches the preset maximum running speed of the lifting mechanism, executing the step of determining that the running speed is the third preset running speed according to the falling ground contact stage.

In this embodiment, after determining that the lifting mechanism is in the descending state, if it is determined that the current running speed of the lifting mechanism reaches the preset maximum running speed, the running speed of the lifting mechanism is further reduced, and, relatively, when the lifting mechanism is in the descending state, if the current running speed of the lifting mechanism reaches the preset maximum running speed, the running speed of the lifting mechanism may not be reduced.

Further, after step S420, the method may further include: when the change of the torque of the lifting motor is detected, acquiring a third torque fluctuation amount of the lifting motor within a third preset time period after the moment of the torque change; if the third torque fluctuation amount is larger than or equal to the third fluctuation amount threshold value, controlling the lifting mechanism to operate according to a fourth preset operation speed; the fourth preset running speed is smaller than the third preset running speed.

In this embodiment, when the lifting mechanism descends and is close to the ground, the lifting mechanism is controlled to operate according to the third preset operating speed, and at this time, the third preset operating speed is not too small, otherwise, the load cannot fall to the ground for a long time. Therefore, when the lifting mechanism operates in the falling and grounding stage, the operation speed of the lifting mechanism can be further reduced at the moment of load grounding, and the lifting motor is controlled to operate at a fourth preset operation speed smaller than the third preset operation speed, so that the speed of the load during grounding is reduced, and the long-time high-speed grounding of the load is avoided, and the mechanical structure of the lifting mechanism is prevented from being damaged.

The moment when the load starts to touch the ground, the torque of the lifting motor changes due to the weight change of the load. At this time, when the torque change of the lifting motor is detected, after the torque change time is recorded, the third torque fluctuation amount of the lifting motor in a third preset time period, when the third torque fluctuation amount is greater than or equal to a third fluctuation amount threshold value, the load is judged to start to touch the ground, the lifting mechanism is controlled to operate at a fourth preset operation speed, and the load is driven to land at the fourth preset operation speed. The fourth preset running speed, the third fluctuation amount threshold and the third preset duration are all set according to actual use requirements.

In an example, the rotational speed of the lifting motor corresponding to the fourth preset running speed may be set to 3Hz. The embodiment provides a control method of a lifting mechanism, which is characterized in that in the lifting stage of the lifting mechanism, the lifting mechanism is controlled to operate through a first preset operation speed, so that a connecting rope can quickly reach a tensioning state, and in the moment that the connecting rope is changed from a loosening state to the tensioning state, the lifting mechanism is controlled to operate at a second preset operation speed smaller than the first preset operation speed, so that after a load can be stably lifted off, the lifting mechanism is controlled to operate at a preset maximum operation speed, so that the load quickly rises to an actually required position, further automatic control is carried out in a sectional mode in the lifting stage, the speed is actively reduced in the moment that the load is lifted off, load impact is reduced, and mechanical structure shaking of the lifting mechanism is avoided. In addition, when the load is detected to be close to the ground, the lifting mechanism is controlled to run at a smaller third preset running speed, the load landing speed is further reduced to a fourth preset running speed at the moment of detecting the load landing, the sectional automatic control is further carried out at the falling landing stage, the small impact of the connecting rope on the lifting mechanism at the moment of releasing the connecting rope is ensured, the load is stably landed, and the shaking of the lifting mechanism is avoided.

As yet another embodiment, step S210 may include:

step S216: if the tightness state is the tensioning state and the duration time of the tensioning state is greater than or equal to a first preset duration time threshold value, the current working stage is determined to be a stable operation stage.

Step S300 may include:

step S330: and determining the running speed as the preset maximum running speed of the lifting mechanism according to the stable running stage.

Step S400 may include:

step S430: and controlling the operation of the lifting mechanism according to the preset maximum operation speed.

In this embodiment, after the load is lifted off, the connection rope is changed from the loose state to the tensioned state, and then if the hoisting mechanism operates normally, the connection rope is kept in the tensioned state, so that whether the hoisting mechanism operates in the steady operation stage can be determined according to the duration of the connection rope kept in the tensioned state. In particular, when the duration of the connection rope kept in the tensioning state is greater than or equal to the first preset duration threshold, whether the lifting mechanism operates in the stable operation stage can be determined. The first preset duration threshold may be set according to time usage requirements.

It can be appreciated that in the steady operation phase of the hoisting mechanism, in order to achieve rapid hoisting of the load, the hoisting mechanism control device controls the hoisting mechanism to operate at a preset maximum operation speed.

As a specific embodiment, after step S430, the method may further include: acquiring a second torque fluctuation amount of the lifting motor; and if the second torque fluctuation amount is greater than or equal to the second fluctuation amount threshold value, and the duration time of the second torque fluctuation amount greater than or equal to the second fluctuation amount threshold value is greater than or equal to a second preset duration time threshold value, controlling the lifting mechanism to stop running.

In this embodiment, in the stable operation stage of the lifting mechanism, if the load is blocked by an obstacle or collides with an obstacle, the torque of the lifting motor will also change, and when the load mounting time is long, the connecting rope may be broken or the load may be suddenly unloaded, so that the mechanical structure of the lifting mechanism shakes or breaks, thereby causing a safety accident.

Therefore, in the embodiment, when the lifting mechanism operates in a stable operation stage, the second torque fluctuation amount of the lifting motor is collected according to a preset sampling period, when the second torque fluctuation amount is larger than or equal to a second fluctuation amount threshold value, timing is started, and when the duration time of the second torque fluctuation amount larger than or equal to the second fluctuation amount threshold value is detected to be larger than or equal to a second preset duration time threshold value, the situation of mounting is judged to occur, and the lifting mechanism is controlled to stop operating.

The preset sampling period, the second torque fluctuation amount, the second fluctuation amount threshold value and the second preset duration time threshold value are all set according to actual use conditions.

It will be appreciated that the control system of the hoisting mechanism may also include a torque sensor mounted on the hoisting motor, and the control device of the hoisting mechanism may obtain the torque fluctuation amount through the torque sensor.

In this embodiment, the step of "obtaining the second torque fluctuation amount of the hoisting motor" may include: judging whether the torque sensor works normally or not; if the torque sensor does not work normally, acquiring a load weight change value detected by the electronic weighing device according to a preset sampling period; and determining the second torque fluctuation amount according to the load weight change value.

In this embodiment, an electronic weighing device may be further disposed in the control system of the hoisting mechanism, and when the torque sensor in the control system of the hoisting mechanism fails, the second torque fluctuation amount is determined according to the load weight change value detected by the electronic weighing device.

The embodiment provides a hoisting mechanism control system, when hoisting mechanism operates in the steady operation stage, detects that hoisting mechanism appearance carries the condition, control hoisting mechanism stop operation, avoided hoisting mechanism to carry and lead to the disconnection of connecting rope, or connecting rope elasticity state change for hoisting mechanism's mechanical structure rocks or takes place the rupture situation, causes the incident.

In addition, the embodiment of the application also provides a computer storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the lifting mechanism control method are realized. Therefore, a detailed description will not be given here. In addition, the description of the beneficial effects of the same method is omitted. For technical details not disclosed in the embodiments of the computer-readable storage medium according to the present application, please refer to the description of the method embodiments of the present application. As an example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.

The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.

Claims (13)

1. A method for controlling a lifting mechanism, the method comprising:

After the lifting mechanism starts to work, the tightness state of a connecting rope in the lifting mechanism is obtained; the tightness state comprises a relaxed state or a tensioned state;

determining the current working stage of the lifting mechanism according to the tightness state; the current working stage comprises a lifting stage, a stable operation stage or a falling ground-touching stage;

determining the running speed of the lifting mechanism according to the current working stage;

and controlling the lifting mechanism to operate according to the operating speed.

2. The method of claim 1, wherein the step of determining the current working phase of the hoisting mechanism based on the tightness status comprises:

determining the current working stage of the lifting mechanism according to the tightness state and the running state parameters of the lifting mechanism; the running state parameters comprise one or more of the current running direction of the lifting motor corresponding to the lifting mechanism, the duration time in the tensioning state and the ground distance of the lifting mechanism.

3. The method of claim 2, wherein the step of determining the current working phase of the hoisting mechanism based on the tightness status and the operational status parameters of the hoisting mechanism comprises:

If the tightness state is the relaxation state, determining the current running direction of a lifting motor corresponding to the lifting mechanism;

if the current running direction is a first preset running direction corresponding to the lifting state of the lifting mechanism, determining that the current working stage is the lifting stage;

the step of determining the running speed of the lifting mechanism according to the current working stage comprises the following steps:

determining the running speed as a first preset running speed according to the lifting stage;

the step of controlling the operation of the lifting mechanism according to the operation speed comprises the following steps:

and controlling the lifting mechanism to operate according to the first preset operating speed.

4. A method according to claim 3, wherein after the step of controlling the operation of the hoisting mechanism according to the first preset operating speed, the method further comprises:

after the lifting mechanism operates for a first preset time period, controlling the lifting mechanism to operate according to a preset maximum operation speed of the lifting mechanism; the first preset running speed is smaller than the preset maximum running speed.

5. A method according to claim 3, wherein after the step of controlling the operation of the hoisting mechanism according to the first preset operating speed, the method further comprises:

When the torque of the lifting motor is detected to change, acquiring the first torque fluctuation amount of the lifting motor within a second preset time after the torque change moment;

if the first torque fluctuation amount is larger than or equal to a first fluctuation amount threshold value, controlling the lifting mechanism to operate according to a second preset operation speed; the second preset running speed is smaller than the first preset running speed.

6. The method of claim 2, wherein the step of determining the current working phase of the hoisting mechanism based on the tightness status and the operational status parameters of the hoisting mechanism comprises:

if the tightness state is the tensioning state and the duration time of the tensioning state is greater than or equal to a first preset duration time threshold value, determining that the current working stage is the stable operation stage;

the step of determining the running speed of the lifting mechanism according to the current working stage comprises the following steps:

determining that the running speed is the preset maximum running speed of the lifting mechanism according to the stable running stage;

the step of controlling the operation of the lifting mechanism according to the operation speed comprises the following steps:

And controlling the lifting mechanism to operate according to the preset maximum operating speed.

7. The method of claim 6, wherein after the step of controlling the operation of the hoisting mechanism according to the preset maximum operation speed, the method further comprises:

acquiring a second torque fluctuation amount of the lifting motor;

and if the second torque fluctuation amount is greater than or equal to a second fluctuation amount threshold value, and the duration time of the second torque fluctuation amount greater than or equal to the second fluctuation amount threshold value is greater than or equal to a second preset duration time threshold value, controlling the lifting mechanism to stop running.

8. The method of claim 2, wherein the step of determining the current working phase of the hoisting mechanism based on the tightness status and the operational status parameters of the hoisting mechanism comprises:

if the tightness state is the tensioning state, determining the current running direction of a lifting motor of the lifting mechanism;

if the current running direction is a second preset running direction corresponding to the descending state of the lifting mechanism, detecting the ground distance of the lifting mechanism;

if the ground distance is detected to be smaller than or equal to a preset distance threshold value, determining that the current working stage is the falling ground contact stage;

The step of determining the running speed of the lifting mechanism according to the current working stage comprises the following steps:

determining the running speed as a third preset running speed according to the falling ground contact stage;

the step of controlling the operation of the lifting mechanism according to the operation speed comprises the following steps:

controlling the lifting mechanism to operate according to the third preset operation speed; the third preset running speed is smaller than the preset maximum running speed of the lifting mechanism.

9. The method of claim 8, wherein prior to the step of determining the operating speed as a third predetermined operating speed based on the touchdown period, the method further comprises:

acquiring the current running speed of the lifting mechanism;

and if the current running speed reaches the preset maximum running speed of the lifting mechanism, executing the step of determining that the running speed is a third preset running speed according to the falling ground contact stage.

10. The method of claim 8, wherein after the step of controlling the operation of the hoisting mechanism according to the third preset operation speed, the method further comprises:

When the torque of the lifting motor is detected to change, acquiring a third torque fluctuation amount of the lifting motor within a third preset time after the moment of torque change;

if the third torque fluctuation amount is larger than or equal to a third fluctuation amount threshold value, controlling the lifting mechanism to operate according to a fourth preset operation speed; wherein the fourth preset operating speed is less than the third preset operating speed.

11. A lifting mechanism control apparatus, the apparatus comprising: a memory, a processor and a hoisting mechanism control program stored on the memory and operable on the processor, the hoisting mechanism control program being configured to implement the steps of the hoisting mechanism control method of any one of claims 1 to 10.

12. A control system for a lifting mechanism, the system comprising:

a lifting mechanism;

a lifting motor connected with the lifting mechanism;

the hoist control device of claim 11, coupled to the hoist motor.

13. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the hoisting mechanism control method according to any one of claims 1 to 10.