WO2021197052A1 - 吊具电缆卷盘的控制方法、装置及起重机 - Google Patents

吊具电缆卷盘的控制方法、装置及起重机 Download PDF

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Publication number
WO2021197052A1
WO2021197052A1 PCT/CN2021/081081 CN2021081081W WO2021197052A1 WO 2021197052 A1 WO2021197052 A1 WO 2021197052A1 CN 2021081081 W CN2021081081 W CN 2021081081W WO 2021197052 A1 WO2021197052 A1 WO 2021197052A1
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WO
WIPO (PCT)
Prior art keywords
signal
reel
cable reel
control
spreader
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PCT/CN2021/081081
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English (en)
French (fr)
Inventor
梅阳凤
张卫
陈锦
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三一海洋重工有限公司
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Filing date
Publication date
Application filed by 三一海洋重工有限公司 filed Critical 三一海洋重工有限公司
Publication of WO2021197052A1 publication Critical patent/WO2021197052A1/zh

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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
    • B66D1/48—Control devices automatic
    • B66D1/485—Control devices automatic electrical
    • 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
    • B66D1/56—Adaptations of limit switches

Definitions

  • This application relates to the technical field of cranes, in particular to a method and device for controlling a cable reel of a spreader, and a crane.
  • the spreader cable reel in the crane will not move synchronously with the lifting or lowering of the hoisting mechanism of the crane.
  • the relevant staff is required to manually operate the spreader cable, and the control accuracy is relatively high. Low, poor reliability, and high labor cost.
  • the purpose of this application is to provide a method, device and crane for controlling the spreader cable reel, so as to improve the control accuracy and reliability of the synchronous movement of the crane's spreader cable and the hoisting mechanism in the emergency operation mode. Performance, reducing labor costs.
  • the present application provides a method for controlling a spreader cable reel, the method is applied to the controller of the spreader cable reel; the method includes: receiving an emergency signal; and based on the Emergency signals and preset operating parameters control the operating state of the spreader cable reel.
  • the controller is respectively connected to the control circuit of the reel motor and the lifting mechanism; the reel motor is connected to the spreader cable reel; the receiving the emergency signal includes: receiving the control The emergency signal sent by the loop; the control of the operating state of the spreader cable reel based on the emergency signal and preset operating parameters includes: based on the emergency signal and preset operating parameters, through the reel motor control The operating state of the spreader cable reel.
  • the emergency signal includes a start signal and a direction signal;
  • the preset operating parameter includes a preset speed;
  • the emergency signal and the preset operating parameter are used to control the reel motor
  • the operating state step of the spreader cable reel includes: sending a first motor control signal to the reel motor, controlling the movement direction of the spreader cable reel according to the direction signal indicated by the reel motor, and Running at the preset speed; wherein the first motor control signal corresponds to the direction of movement indicated by the direction signal and the preset speed.
  • the emergency signal includes a stop signal; the controlling the movement state of the spreader cable reel based on the emergency signal and preset operating parameters includes: controlling the spreader cable reel to stop running .
  • the emergency signal includes a stop signal; the control of the movement state of the spreader cable reel through the reel motor based on the emergency signal and preset operating parameters includes: The reel motor sends a second motor control signal, and the spreader cable reel is controlled to stop running through the reel motor.
  • the method further includes: receiving a speed feedback signal; when the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than a preset speed threshold, sending a first fault signal.
  • control loop is also connected to a hoisting mechanism; the method further includes: receiving a speed feedback signal sent by the reel motor; when the current running speed indicated by the speed feedback signal is compared with a preset speed When the difference is greater than a preset speed threshold, a first fault signal is sent to the control loop, so that the control loop controls the hoisting mechanism to stop running.
  • the present application provides a method for controlling a cable reel of a spreader.
  • the method is applied to a control loop of a lifting mechanism; the control loop of the lifting mechanism is connected to a controller;
  • the pan motor and the spreader cable reel are connected in sequence; the method includes: when an emergency mode instruction is received, sending an emergency signal to the controller, so that the controller is based on the emergency signal and preset operating parameters , Control the running state of the spreader cable reel.
  • the controller, the reel motor, and the spreader cable reel are connected in sequence; the controlling the operating state of the spreader cable reel includes: controlling the crane through the reel motor With the operating status of the cable reel.
  • control loop is further connected with a hoisting mechanism;
  • preset operating parameters include a preset speed;
  • the method further includes: when the first fault signal sent by the controller is received, controlling the The lifting mechanism stops running; the controller receives the speed feedback signal sent by the reel motor for the first fault signal, and the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than The preset speed threshold is sent to the control loop.
  • control loop is also connected to the cable reel detection limit and lifting mechanism; the cable reel detection limit is used to detect the tightness of the spreader cable reel; the method is also Including: when the second fault signal sent by the detection limit of the cable reel is received, control the lifting mechanism to stop running; the second fault signal is used to indicate that the spreader cable reel is too loose or Too tight.
  • the present application provides a control device for a spreader cable reel, the device is provided in the controller of the spreader cable reel; the device includes: a signal receiving module for receiving emergency signals; And a control module for controlling the operating state of the spreader cable reel based on the emergency signal and preset operating parameters.
  • the controller is respectively connected to the reel motor and the control circuit of the lifting mechanism; the reel motor is connected to the spreader cable reel; the signal receiving module is configured to: receive the The emergency signal sent by the control loop; the control module is configured to control the operating state of the spreader cable reel through the reel motor based on the emergency signal and preset operating parameters.
  • the emergency signal includes a start signal and a direction signal;
  • the preset operating parameter includes a preset speed;
  • the control module is configured to: send a first motor control signal to the reel motor, and pass the The reel motor controls the spreader cable reel to run at the preset speed according to the direction of movement indicated by the direction signal; wherein, the direction of movement indicated by the first motor control signal and the direction signal, The preset speed corresponds to it.
  • the emergency signal includes a stop signal; the control module is configured to control the spreader cable reel to stop running.
  • the emergency signal includes a stop signal; the control module is configured to send a second motor control signal to the reel motor, and control the spreader cable reel to stop running through the reel motor .
  • the device further includes: a feedback signal receiving module for receiving a speed feedback signal; and a fault signal sending module for when the difference between the current operating speed indicated by the speed feedback signal and the preset speed is greater than At the preset speed threshold, the first fault signal is sent.
  • control loop is also connected with a hoisting mechanism; the device further includes: a feedback signal receiving module for receiving a speed feedback signal sent by the reel motor; a fault signal sending module for when When the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than the preset speed threshold, a first fault signal is sent to the control loop, so that the control loop controls the hoisting mechanism to stop running.
  • the present application provides a control device for a spreader cable reel, the device is arranged in the control circuit of the lifting mechanism; the control circuit of the lifting mechanism is connected to the controller; the controller, the coil The reel motor and the spreader cable reel are connected in sequence; the device includes: a signal sending module for sending an emergency signal to the controller when an emergency mode instruction is received, so that the controller is based on the emergency signal and Preset operating parameters to control the operating state of the spreader cable reel.
  • the controller, the reel motor, and the spreader cable reel are connected in sequence; the signal sending module is configured to control the operating state of the spreader cable reel through the reel motor .
  • control loop is also connected to a hoisting mechanism;
  • preset operating parameters include a preset speed;
  • the device further includes: a first fault control module, which is configured to: When the first fault signal occurs, the lifting mechanism is controlled to stop running; the controller receives the first fault signal from the speed feedback signal sent by the reel motor, and the current running speed indicated by the speed feedback signal is the same as The difference between the preset speeds is greater than a preset speed threshold and then sent to the control loop.
  • control loop is also connected to the cable reel detection limit and the lifting mechanism; the cable reel detection limit is used to detect the tightness of the spreader cable reel; the device is also It includes: a second fault control module, which is used to control the hoisting mechanism to stop operation when receiving a second fault signal sent by the cable reel detection limit; the second fault signal is used to instruct the hoist The cable reel is too loose or too tight.
  • the present application provides a crane, which includes a hoisting mechanism, a control circuit, a controller, a reel motor, and a spreader cable reel that are connected in sequence;
  • the controller includes any one of the above The control device of the controller of the spreader cable reel;
  • the control circuit includes any one of the above-mentioned control devices provided in the control circuit of the hoisting mechanism.
  • the present application provides a computer-readable storage medium with a computer program stored on the computer-readable storage medium, and the computer program is used to execute any of the above-mentioned methods.
  • the embodiments of the present application provide a method, device and crane for controlling a spreader cable reel. After receiving an emergency signal, based on the emergency signal and preset operating parameters, the operating state of the spreader cable reel is controlled; this method improves In the emergency operation mode, the control accuracy and reliability of the synchronous movement of the crane's spreader cable and the hoisting mechanism are reduced, and labor costs are reduced.
  • FIG. 1 is a schematic diagram of a method for controlling a cable reel of a spreader in an emergency operation mode in a related technology provided by an embodiment of the application;
  • FIG. 2 is a flowchart of a method for controlling a cable reel of a spreader provided by an embodiment of the application
  • FIG. 3 is a flowchart of another method for controlling a cable reel of a spreader provided by an embodiment of the application;
  • FIG. 4 is a flowchart of another method for controlling a cable reel of a spreader provided by an embodiment of the application;
  • FIG. 5 is a flowchart of another method for controlling a cable reel of a spreader provided by an embodiment of the application.
  • FIG. 6 is a specific implementation process diagram of a method for controlling a spreader cable reel provided by an embodiment of the application
  • FIG. 7 is a schematic diagram of a method for spreading a cable reel according to an embodiment of the application.
  • FIG. 8 is a schematic structural diagram of a control device for a spreader cable reel provided by an embodiment of the application.
  • Fig. 9 is a schematic structural diagram of another control device for a spreader cable reel provided by an embodiment of the application.
  • Fig. 10 is a schematic structural diagram of a crane provided by an embodiment of the application.
  • the lifting mechanism of the crane is divided into a normal operation mode and an emergency operation mode.
  • the emergency operation mode the spreader cable reel will not move with the lifting or lowering of the lifting mechanism, and it is easy to cause the spreader cable to be hooked due to looseness, or to cause the cable to be pulled and damaged when it is too tight; in related technologies , Usually the maintenance personnel are arranged separately to stand on the trolley and manually operate the spreader cable.
  • the operator 1 sends a start-stop signal and a direction signal to the emergency motor through the control loop (shown as start-stop + direction signal in Figure 1) to control the lifting through the emergency motor (the emergency power supply is the emergency motor)
  • the mechanism is raised and lowered, and the operator 2 sends a start-stop signal and a direction signal to the reel motor through the control loop (shown as start-stop + direction signal in Figure 1) to pass the reel motor (the power supply of the spreader cable reel is the reel Motor power supply) to control the lifting of the chainsaw cable, the two are not related to each other.
  • the spreader cable cannot automatically follow the action of the lifting mechanism; and when the maintenance personnel manually operate it, it is easily affected by human factors, has poor reliability and low control accuracy, and it is easy to follow asynchrony due to improper operation.
  • the synchronism of the spreader cable and the lifting mechanism is poor.
  • the method, device and crane for controlling the cable reel of the spreader provided by the embodiments of the present application can be applied to the control process of the cable reel of the crane or other equipment.
  • the embodiment of the application provides a method for controlling the spreader cable reel, which is applied to the controller of the spreader cable reel; as shown in FIG. 2, the method includes the following steps:
  • Step S110 receiving an emergency signal.
  • Step S120 based on the emergency signal and preset operating parameters, control the operating state of the spreader cable reel.
  • the method for controlling the cable reel of the spreader provided by the embodiment of the application, after receiving the emergency signal, controls the operating state of the cable reel of the spreader based on the emergency signal and preset operating parameters; this method improves the emergency operation mode , The control accuracy and reliability of the synchronous movement of the crane's spreader cable and the hoisting mechanism reduces labor costs.
  • the embodiment of the application provides another method for controlling the spreader cable reel, which is applied to the controller; the controller is respectively connected with the reel motor and the control loop of the lifting mechanism; the reel motor and the spreader cable reel Connection; as shown in Figure 3, the method includes the following steps:
  • Step S200 receiving an emergency signal sent by the control loop.
  • the above-mentioned control loop can usually receive control commands triggered by the operator of the crane to control the operation of the lifting mechanism of the crane.
  • the control circuit receives the emergency mode command triggered by the user, it can generate an emergency signal.
  • the emergency signal is used to control the hoisting mechanism to run in the emergency mode, and the emergency signal is sent to the controller connected to the reel motor to The controller controls the operation of the spreader cable reel through the reel motor, and then controls the operation of the spreader cable.
  • the above emergency signal is usually a start signal or a stop signal.
  • the emergency signal may also include a direction signal to indicate the running direction of the spreader cable, which is usually the same as the running direction of the hoisting mechanism.
  • Step S202 based on the emergency signal and preset operating parameters, the operating state of the spreader cable reel is controlled through the reel motor.
  • the above preset operating parameters are usually related to the operating parameters of the hoisting mechanism in the emergency mode; for example, when the hoisting mechanism adopts a fixed operating speed in the emergency mode
  • the preset operating parameters also include the preset speed
  • the preset speed can be the same as the operating speed of the hoisting mechanism in emergency mode
  • the controller can output a motor control signal that matches the preset operating parameters, and the reel motor After receiving the motor control signal, the spreader cable reel can be controlled to run in the operating state indicated by the preset operating parameters, such as running at the preset speed.
  • the embodiment of the application provides a method for controlling the spreader cable reel. After receiving the emergency signal sent by the control loop, based on the emergency signal and preset operating parameters, the reel motor controls the operating state of the spreader cable reel ; This method improves the control accuracy and reliability of the synchronous movement of the crane's spreader cable and the hoisting mechanism in the emergency operation mode, and reduces the labor cost.
  • the embodiment of the present application also provides a method for controlling a cable reel of a spreader, which is implemented on the basis of the method described in the above embodiment. As shown in FIG. 4, the method includes the following steps:
  • Step S300 Receive an emergency signal sent by the control loop; where the emergency signal includes a start signal and a direction signal.
  • the start signal is used to instruct the spreader cable reel to start running;
  • the direction signal is used to indicate the running direction of the spreader cable reel, which is consistent with the running direction of the emergency mechanism.
  • step S302 the first motor control signal is sent to the reel motor, and the spreader cable reel is controlled by the reel motor to run at a preset speed according to the movement direction indicated by the direction signal.
  • the first motor control signal corresponds to the movement direction indicated by the direction signal and the preset speed.
  • the above preset speed is preset and corresponds to the operating speed of the hoisting mechanism in emergency mode; when the cable reel of the spreader is controlled by the reel motor to run at the preset speed in accordance with the movement direction indicated by the direction signal
  • the cable reel can drive the sling cable and the lifting mechanism to move synchronously.
  • the above-mentioned controller can be a frequency converter, and the preset speed can be set in the frequency converter; when the frequency converter receives the start signal and direction signal, it can send the motor control signal to the reel motor, and control the spreader cable reel through the reel motor.
  • the direction of movement indicated by the direction signal runs at a preset speed; at this time, the reel motor is also a variable frequency motor.
  • the above emergency signal may also be a stop signal; when the controller receives the stop signal, the controller sends a second motor control signal to the reel motor, and the reel motor controls the spreader cable reel to stop running.
  • Step S304 Receive the speed feedback signal sent by the reel motor.
  • the above-mentioned speed feedback signal is generated based on the current running speed of the spreader cable reel, and the current running speed of the spreader cable reel can be obtained through the speed feedback signal.
  • Step S306 It is judged whether the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than the preset speed threshold; if so, step S308 is executed; if not, step S306 is executed.
  • the above preset speed corresponds to the operating speed of the hoisting mechanism; when the difference between the current operating speed indicated by the speed feedback signal and the preset speed is greater than the preset speed threshold, it indicates that the speed between the spreader cable and the hoisting mechanism is different
  • the difference is greater than the allowable range (that is, the above-mentioned speed threshold), and the control of the operating state of the spreader cable reel is in a fault state.
  • Step S308 Send a first fault signal to the control loop, so that the control loop controls the lifting mechanism to stop running. Normally, the above-mentioned control loop is connected to the lifting mechanism. When the first fault signal sent by the controller is received, the control loop will cut off the power supply to the lifting mechanism to stop the lifting mechanism.
  • the embodiment of the application provides a method for controlling the spreader cable reel. After receiving the emergency signal sent by the control loop, the first motor control signal is sent to the reel motor, and the spreader cable reel is controlled by the reel motor to follow the direction The movement direction indicated by the signal runs at a preset speed; and receives the speed feedback signal sent by the reel motor, and sends it to the control loop when the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than the preset speed threshold The first fault signal, so that the control loop controls the lifting mechanism to stop running.
  • This method improves the control accuracy and reliability of the synchronous movement of the crane's spreader cable and the hoisting mechanism in the emergency operation mode, and prevents accidents caused by the unsynchronized movement of the spreader cable and the hoisting mechanism.
  • the embodiment of the present application also provides another method for controlling the cable reel of the spreader, which is applied to the control circuit of the lifting mechanism; the control circuit of the lifting mechanism is connected to the controller; the controller, the reel motor and the spreader cable The reels are connected in sequence; as shown in Figure 5, the method includes the following steps:
  • step S400 when an emergency mode command triggered by a user is received, an emergency signal is sent to the controller so that the controller controls the operating state of the spreader cable reel through the reel motor based on the emergency signal and preset operating parameters.
  • the above-mentioned control loop is usually also connected with the hoisting mechanism; the preset operating parameters include the preset speed; when receiving the first fault signal sent by the controller, the hoisting mechanism is controlled to stop running; the controller receives the first fault signal from the reel motor The sent speed feedback signal is sent to the control loop after judging that the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than the preset speed threshold.
  • control loop is also connected to the detection limit of the cable reel; the detection limit of the cable reel is used to detect the tightness of the cable reel of the spreader; when the control loop receives the second fault signal sent by the detection limit of the cable reel , Control the lifting mechanism to stop running; the second fault signal is used to indicate that the spreader cable reel is in a state of too loose or too tight.
  • the embodiment of the application provides a method for controlling a cable reel of a spreader.
  • an emergency mode command triggered by a user is received, an emergency signal is sent to the controller so that the controller can pass the reel based on the emergency signal and preset operating parameters.
  • the motor controls the running state of the spreader cable reel; this method improves the control accuracy and reliability of the synchronous movement of the crane's spreader cable and the hoisting mechanism in the emergency operation mode, and reduces labor costs.
  • the embodiment of the application also provides another method for controlling the spreader cable reel.
  • This method is mainly applied to the emergency mode of the crane, and mainly solves the following problems: In the emergency mode, the spreader cable reel (also referred to as “reel for short” ”) automatic control, synchronous operation of the spreader cable reel and hoisting mechanism, and protection of the running state of the spreader cable reel.
  • the method is based on the control circuit, emergency motor, emergency power supply, reel motor, reel frequency converter and spreader cable reel power supply.
  • the specific implementation process is shown in Figure 6.
  • the control circuit is used to send related technologies only to emergency
  • the start signal and direction signal of the motor are simultaneously sent to the reel inverter (equivalent to the controller in the above embodiment, also called the inverter); the start signal and direction signal are usually obtained by the operator triggering the control loop;
  • the device controls the lifting or lowering speed of the reel by presetting a speed output which is the same as that of the lifting emergency mechanism (equivalent to the preset speed in the above embodiment), so as to realize the synchronization of the reel speed and the lifting mechanism speed. Operation, reduce the control error or misoperation caused by human operation.
  • the speed difference between the spreader cable reel and the hoisting mechanism exceeds the allowable range, or the cable reel monitoring limit sends out a signal that the cable is too tight or too loose, the power supply of the emergency mechanism can be automatically cut off to ensure safe operation
  • the operation of the hoisting mechanism is driven by the emergency motor, which is directly controlled by the hard circuit of its control loop; the control loop sends the start signal and the direction signal (upward or downward) of the hoisting mechanism to the spreader cable
  • the reel inverter is used as the start signal and positive and negative signals of the inverter to control the start, stop, forward and reverse rotation of the inverter; the inverter pre-sets a speed output that is the same as that of the emergency lifting mechanism to control the lifting of the reel. Ascending or descending speed, so that the running speed of the reel and the running speed of the hoisting mechanism can run synchronously.
  • the reel inverter receives the speed feedback, and determines the difference between the reel running speed and the preset speed to obtain the spreader
  • the speed difference between the cable reel and the hoisting mechanism or when the cable reel sends out a signal that the cable is too tight or too loose (the reel sends fault feedback to the control circuit of the emergency mechanism), the control circuit can automatically switch the hoisting mechanism and the hoisting mechanism.
  • the operation of the cable reel can prevent damage to the spreader cable.
  • the working principle diagram is shown in Figure 7.
  • This method is based on the speed preset function of the reel inverter, and realizes the automatic control of the spreader cable reel in the emergency mode, the detection of the synchronization of the mechanism and the reel operation, and the protection of the spreader cable, which reduces the on-site Operators, reducing labor costs.
  • the embodiment of the present application also provides a control device for the spreader cable reel, which is arranged in the controller; the controller is respectively connected to the reel motor and the lifting mechanism The control loop is connected; the reel motor is connected to the spreader cable reel; the reel motor is connected to the spreader cable reel; as shown in Figure 8, the device includes:
  • the signal receiving module 700 is used to receive emergency signals. Specifically, it is used to receive the emergency signal sent by the control loop;
  • the control module 702 is used to control the operating state of the spreader cable reel based on the emergency signal and preset operating parameters. Specifically, the operating state of the spreader cable reel is controlled by the reel motor.
  • the emergency signal includes a start signal and a direction signal;
  • the preset operating parameters include a preset speed;
  • the control module is also used to: send a first motor control signal to the reel motor, and control the spreader cable reel through the reel motor It runs at a preset speed according to the direction of movement indicated by the direction signal; the first motor control signal corresponds to the direction of movement indicated by the direction signal and the preset speed.
  • the emergency signal includes a stop signal; the control module is also used to send a second motor control signal to the reel motor, and control the spreader cable reel to stop running through the reel motor.
  • control loop is also connected with the hoisting mechanism;
  • the above-mentioned device further includes: a feedback signal receiving module for receiving the speed feedback signal sent by the reel motor; a speed judgment module for judging the current operating speed indicated by the speed feedback signal Whether the difference between the preset speed and the preset speed is greater than the preset speed threshold; the fault signal sending module is used to send a first fault signal to the control loop, so that the control loop controls the hoisting mechanism to stop running.
  • the control device for the spreader cable reel provided by the embodiment of the present application has the same technical features as the control method for the spreader cable reel provided in the above embodiment, so it can also solve the same technical problem and achieve the same technical effect.
  • the embodiment of the present application also provides another control device for the lifting gear cable reel, which is arranged in the control circuit of the lifting mechanism; the control circuit of the lifting mechanism is connected to the controller; the controller, the reel motor and the spreader cable The reels are connected in sequence; as shown in Figure 9, the device includes:
  • the signal sending module 800 is used to send an emergency signal to the controller when the emergency mode command triggered by the user is received, so that the controller can control the running state of the spreader cable reel through the reel motor based on the emergency signal and preset operating parameters .
  • the above-mentioned control loop is also connected with the hoisting mechanism;
  • the preset operating parameters include a preset speed;
  • the above-mentioned device further includes: a first fault control module, which is used to control the hoisting mechanism when the first fault signal sent by the controller is received Stop running; the controller receives the speed feedback signal sent by the reel motor for the first fault signal, judges that the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than the preset speed threshold, and then sends it to the control loop.
  • control loop is also connected with the cable reel detection limit and the lifting mechanism; the cable reel detection limit is used to detect the tightness of the spreader cable reel; the above-mentioned device also includes: a second fault control module, when The second fault signal sent by the detection limit of the cable reel is received, and the hoisting mechanism is controlled to stop running; the second fault signal is used to indicate that the spreader cable reel is in an over-loose or over-tight state.
  • control device of another spreader cable reel provided by the embodiment of this application has the same technical features as the control method of the spreader cable reel provided in the above embodiment, so it can also solve the same technical problem and achieve the same Technical effect.
  • the embodiment of the present application also provides a crane.
  • the crane includes a hoisting mechanism 90, a control circuit 91, a controller 92, a reel motor 93, and a spreader cable reel connected in sequence. 94;
  • the control device of the above-mentioned spreader cable reel is set in the controller; the control device of the above-mentioned other spreader cable reel is set in the control loop.
  • the method and device for controlling the spreader cable reel and the computer program product of the crane provided by the embodiments of the present application include a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the foregoing method embodiments
  • the instructions included in the program codes can be used to execute the foregoing method embodiments
  • the terms “installed”, “connected”, and “connected” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection. , Or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • installed should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection. , Or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of the present application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes. .

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Abstract

一种吊具电缆卷盘的控制方法、装置及起重机，在接收应急信号后，基于该应急信号及预设运行参数，控制吊具电缆卷盘（94）的运行状态。该方法或装置提高了在应急操作模式下，起重机的吊具电缆与起升机构（90）的同步运动的控制精度及可靠性，降低了人工成本。

Description

吊具电缆卷盘的控制方法、装置及起重机 技术领域
本申请涉及起重机技术领域，尤其是涉及一种吊具电缆卷盘的控制方法、装置及起重机。
发明背景
相关技术中，在应急操作模式下，起重机中的吊具电缆卷盘不会随着起重机的起升机构的上升或下降而同步动作，需要相关工作人员对吊具电缆进行手动操作，控制精度较低，可靠性差，且人工成本较高。
发明内容
有鉴于此，本申请的目的在于提供一种吊具电缆卷盘的控制方法、装置及起重机，以提高在应急操作模式下，起重机的吊具电缆与起升机构的同步运动的控制精度及可靠性，降低人工成本。
第一方面，本申请提供了一种一种吊具电缆卷盘的控制方法，所述方法应用于所述吊具电缆卷盘的控制器；所述方法包括：接收应急信号；以及基于所述应急信号及预设运行参数，控制所述吊具电缆卷盘的运行状态。
在一实施例中，所述控制器分别与卷盘电机以及起升机构的控制回路连接；所述卷盘电机与所述吊具电缆卷盘连接；所述接收应急信号包括：接收所述控制回路发送的应急信号；所述基于所述应急信号及预设运行参数，控制所述吊具电缆卷盘的运行状态包括：基于所述应急信号及预设运行参数，通过所述卷盘电机控制所述吊具电缆卷盘的运行状态。
在一实施例中，所述应急信号包括启动信号及方向信号；所述预设运行参数包括预设速度；所述基于所述应急信号及预设运行参数，通过所述卷盘电机控制所述吊具电缆卷盘的运行状态步骤，包括：向所述卷盘电机发送第一电机控制信号，通过所述卷盘电机控制所述吊具电缆卷盘按照所述方向信号指示的运动方向，且以所述预设速度运行；其中，所述第一电机控制信号与所述方向信号指示的运动方向、所述预设速度相对应。
在一实施例中，所述应急信号包括停止信号；所述基于所述应急信号及预设运行参数，控制所述吊具电缆卷盘的运动状态包括：控制所述吊具电缆卷盘停止运行。
在一实施例中，所述应急信号包括停止信号；所述基于所述应急信号及预设 运行参数，通过所述卷盘电机控制所述吊具电缆卷盘的运动状态包括：向所述卷盘电机发送第二电机控制信号，通过所述卷盘电机控制所述吊具电缆卷盘停止运行。
在一实施例中，所述方法还包括：接收速度反馈信号；当所述速度反馈信号指示的当前运行速度与预设速度之差大于预设的速度阈值时，发送第一故障信号。
在一实施例中，所述控制回路还与起升机构连接；所述方法还包括：接收所述卷盘电机发送的速度反馈信号；当所述速度反馈信号指示的当前运行速度与预设速度之差大于预设的速度阈值时，向所述控制回路发送第一故障信号，以使所述控制回路控制所述起升机构停止运行。
第二方面，本申请提供了一种吊具电缆卷盘的控制方法，所述方法应用于起升机构的控制回路；所述起升机构的控制回路与控制器连接；所述控制器、卷盘电机及所述吊具电缆卷盘依次连接；所述方法包括：当接收到应急模式指令，向所述控制器发送应急信号，以使所述控制器基于所述应急信号及预设运行参数，控制所述吊具电缆卷盘的运行状态。
在一实施例中，所述控制器、卷盘电机及所述吊具电缆卷盘依次连接；所述控制所述吊具电缆卷盘的运行状态包括：通过所述卷盘电机控制所述吊具电缆卷盘的运行状态。
在一实施例中，所述控制回路还与起升机构连接；所述预设运行参数包括预设速度；所述方法还包括：当接收到所述控制器发送第一故障信号时，控制所述起升机构停止运行；所述第一故障信号由所述控制器接收所述卷盘电机发送的速度反馈信号，且所述速度反馈信号指示的当前运行速度与所述预设速度之差大于预设的速度阈值后发送至所述控制回路。
在一实施例中，所述控制回路还与电缆卷盘检测限位及起升机构连接；所述电缆卷盘检测限位用于检测所述吊具电缆卷盘的松紧状态；所述方法还包括：当接收到所述电缆卷盘检测限位发送的第二故障信号时，控制所述起升机构停止运行；所述第二故障信号用于指示所述吊具电缆卷盘处于过松或过紧状态。
第三方面，本申请提供了一种吊具电缆卷盘的控制装置，所述装置设置于所述吊具电缆卷盘的控制器；所述装置包括：信号接收模块，用于接收应急信号；以及控制模块，用于基于所述应急信号及预设运行参数，控制所述吊具电缆卷盘的运行状态。
在一实施例中，所述控制器分别与卷盘电机以及起升机构的控制回路连接；所述卷盘电机与所述吊具电缆卷盘连接；所述信号接收模块配置为：接收所述控制回路发送的应急信号；所述控制模块配置为：基于所述应急信号及预设运行参数，通过所述卷盘电机控制所述吊具电缆卷盘的运行状态。
在一实施例中，所述应急信号包括启动信号及方向信号；所述预设运行参数 包括预设速度；所述控制模块配置为：向所述卷盘电机发送第一电机控制信号，通过所述卷盘电机控制所述吊具电缆卷盘按照所述方向信号指示的运动方向，且以所述预设速度运行；其中，所述第一电机控制信号与所述方向信号指示的运动方向、所述预设速度相对应。
在一实施例中，所述应急信号包括停止信号；所述控制模块配置为：控制所述吊具电缆卷盘停止运行。
在一实施例中，所述应急信号包括停止信号；所述控制模块配置为：向所述卷盘电机发送第二电机控制信号，通过所述卷盘电机控制所述吊具电缆卷盘停止运行。
在一实施例中，所述装置还包括：反馈信号接收模块，用于接收速度反馈信号；以及故障信号发送模块，用于当所述速度反馈信号指示的当前运行速度与预设速度之差大于预设的速度阈值时，发送第一故障信号。
在一实施例中，所述控制回路还与起升机构连接；所述装置还包括：反馈信号接收模块，用于接收所述卷盘电机发送的速度反馈信号；故障信号发送模块，用于当所述速度反馈信号指示的当前运行速度与预设速度之差大于预设的速度阈值时，向所述控制回路发送第一故障信号，以使所述控制回路控制所述起升机构停止运行。
第四方面，本申请提供了一种吊具电缆卷盘的控制装置，所述装置设置于起升机构的控制回路；所述起升机构的控制回路与控制器连接；所述控制器、卷盘电机及吊具电缆卷盘依次连接；所述装置包括：信号发送模块，用于当接收到应急模式指令，向所述控制器发送应急信号，以使所述控制器基于所述应急信号及预设运行参数，控制所述吊具电缆卷盘的运行状态。
在一实施例中，所述控制器、卷盘电机及所述吊具电缆卷盘依次连接；所述信号发送模块配置为：通过所述卷盘电机控制所述吊具电缆卷盘的运行状态。
在一实施例中，所述控制回路还与起升机构连接；所述预设运行参数包括预设速度；所述装置还包括：第一故障控制模块，用于当接收到所述控制器发送第一故障信号时，控制所述起升机构停止运行；所述第一故障信号由所述控制器接收所述卷盘电机发送的速度反馈信号，且所述速度反馈信号指示的当前运行速度与所述预设速度之差大于预设的速度阈值后发送至所述控制回路。
在一实施例中，所述控制回路还与电缆卷盘检测限位及起升机构连接；所述电缆卷盘检测限位用于检测所述吊具电缆卷盘的松紧状态；所述装置还包括：第二故障控制模块，用于当接收到所述电缆卷盘检测限位发送的第二故障信号时，控制所述起升机构停止运行；所述第二故障信号用于指示所述吊具电缆卷盘处于过松或过紧状态。
第五方面，本申请提供了一种起重机，所述起重机包括依次连接的起升机构、 控制回路、控制器、卷盘电机以及吊具电缆卷盘；所述控制器包括上述任一项设置于吊具电缆卷盘的控制器的控制装置；所述控制回路包括上述任一项设置于起升机构的控制回路的控制装置。
第六方面，本申请提供了一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序用于执行上述任一所述的方法。
本申请实施例带来了以下有益效果：
本申请实施例提供了一种吊具电缆卷盘的控制方法、装置及起重机，在接收应急信号后，基于该应急信号及预设运行参数，控制吊具电缆卷盘的运行状态；该方式提高了在应急操作模式下，起重机的吊具电缆与起升机构的同步运动的控制精度及可靠性，降低了人工成本。
本申请的其他特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本申请而了解。本申请的目的和其他优点在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。
为使本申请的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。
附图简要说明
为了更清楚地说明本申请具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施方式，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的相关技术中，应急操作模式下吊具电缆卷盘控制方法的原理图；
图2为本申请实施例提供的一种吊具电缆卷盘的控制方法的流程图；
图3为本申请实施例提供的另一种吊具电缆卷盘的控制方法的流程图；
图4为本申请实施例提供的另一种吊具电缆卷盘的控制方法的流程图；
图5为本申请实施例提供的另一种吊具电缆卷盘的控制方法的流程图；
图6为本申请实施例提供的一种吊具电缆卷盘的控制方法的具体实现过程图；
图7为本申请实施例提供的一种吊具电缆卷盘的方法的原理图；
图8为本申请实施例提供的一种吊具电缆卷盘的控制装置的结构示意图；
图9为本申请实施例提供的另一种吊具电缆卷盘的控制装置的结构示意图；
图10为本申请实施例提供的一种起重机的结构原理图。
实施本发明的方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
目前，起重机的起升机构分为正常操作模式和应急操作模式。在应急操作模式时，吊具电缆卷盘不会随着起升机构的上升或下降而动作，容易出现吊具电缆过松导致被勾住，或出现过紧导致电缆被拉损伤；相关技术中，通常单独安排维护人员站在小车上，对吊具电缆进行手动操作。如图1所示，操作人员1通过控制回路向应急电机发送启停信号及方向信号(图1中表示为启停+方向信号)，以通过应急电机(应急电源为应急电机供电)控制起升机构的升降，而操作人员2通过控制回路向卷盘电机发送启停信号及方向信号(图1中表示为启停+方向信号)，以通过卷盘电机(吊具电缆卷盘电源为卷盘电机供电)控制电锯电缆的升降，二者互不相关。该方式中，吊具电缆无法自动跟随起升机构的动作而动作；并且，维护人员手动操作时，易受人为因素影响，可靠性差，控制精度较低，易由于操作不当出现跟随不同步情况，吊具电缆和起升机构的同步性差。
基于此，本申请实施例提供的一种吊具电缆卷盘的控制方法、装置及起重机，可以应用于起重机或其他设备的吊具电缆卷盘的控制过程中。
为便于对本实施例进行理解，首先对本申请实施例所公开的一种吊具电缆卷盘的控制方法进行详细介绍。
本申请实施例提供了一种吊具电缆卷盘的控制方法，该方法应用于吊具电缆卷盘的控制器；如图2所示，该方法包括以下步骤：
步骤S110，接收应急信号。
步骤S120，基于应急信号及预设运行参数，控制吊具电缆卷盘的运行状态。
本申请实施例提供的吊具电缆卷盘的控制方法，在接收应急信号后，基于该应急信号及预设运行参数，控制吊具电缆卷盘的运行状态；该方式提高了在应急操作模式下，起重机的吊具电缆与起升机构的同步运动的控制精度及可靠性，降低了人工成本。
本申请实施例提供了另一种吊具电缆卷盘的控制方法，该方法应用于控制器；控制器分别与卷盘电机以及起升机构的控制回路连接；卷盘电机与吊具电缆卷盘连接；如图3所示，该方法包括以下步骤：
步骤S200，接收控制回路发送的应急信号。
上述控制回路通常可以接收起重机的操作人员触发的控制指令，从而控制起重机的起升机构的运行。当控制回路接收到用户触发的应急模式指令时，可以产 生应急信号，通过该应急信号控制起升机构在应急模式下运行的同时，将该应急信号发送至与卷盘电机连接的控制器，以使控制器通过卷盘电机控制吊具电缆卷盘运行，进而控制吊具电缆的运行。
上述应急信号通常为启动信号或停止信号，当应急信号为启动信号时，该应急信号还可以包括方向信号，以指示吊具电缆的运行方向，该方向通常与起升机构的运行方向相同。
步骤S202，基于应急信号及预设运行参数，通过卷盘电机控制吊具电缆卷盘的运行状态。
由于在应急模式下，需要吊具电缆和起升机构同步运动，上述预设运行参数通常与起升机构在应急模式下的运行参数相关；如当起升机构在应急模式下采用固定的运行速度时，该预设运行参数也包括预设速度，该预设速度可以与起升机构在应急模式下的运行速度相同；控制器可以输出与预设运行参数相匹配的电机控制信号，卷盘电机在接收到电机控制信号后，可以控制吊具电缆卷盘以预设运行参数所指示的运行状态运行，如以预设速度运行等。
本申请实施例提供了一种吊具电缆卷盘的控制方法，在接收控制回路发送的应急信号后，基于该应急信号及预设运行参数，通过卷盘电机控制吊具电缆卷盘的运行状态；该方式提高了在应急操作模式下，起重机的吊具电缆与起升机构的同步运动的控制精度及可靠性，降低了人工成本。
本申请实施例还提供了一种吊具电缆卷盘的控制方法，该方法在上述实施例所述的方法的基础上实现，如图4所示，该方法包括以下步骤：
步骤S300，接收控制回路发送的应急信号；其中，上述应急信号包括启动信号及方向信号。该启动信号用于指示吊具电缆卷盘开始运行；该方向信号用于指示吊具电缆卷盘的运行方向，该运行方向与应急机构的运行方向一致。
步骤S302，向卷盘电机发送第一电机控制信号，通过卷盘电机控制吊具电缆卷盘按照方向信号指示的运动方向，以预设速度运行。第一电机控制信号与方向信号指示的运动方向，以及预设速度相对应。
上述预设速度是预先设置的，与起升机构在应急模式下的运行速度相对应；当通过卷盘电机控制吊具电缆卷盘按照方向信号指示的运动方向，以预设速度运行时，吊具电缆卷盘可以带动吊具电缆与起升机构同步运动。上述控制器可以为变频器，在变频器中设置预设速度；当变频器接收到启动信号和方向信号时，可以向卷盘电机发送电机控制信号，通过卷盘电机控制吊具电缆卷盘按照方向信号指示的运动方向，以预设速度运行；此时，此时卷盘电机也为变频电机。
上述应急信号也可以为停止信号；当控制器接收到停止信号时，控制器向卷盘电机发送第二电机控制信号，通过卷盘电机控制吊具电缆卷盘停止运行。
步骤S304，接收卷盘电机发送的速度反馈信号。
上述速度反馈信号基于吊具电缆卷盘的当前运行速度生成，通过该速度反馈信号可以得到吊具电缆卷盘的当前运行速度。
步骤S306，判断速度反馈信号指示的当前运行速度与预设速度之差是否大于预设的速度阈值；如果是，执行步骤S308；如果否，执行步骤S306。
上述预设速度与起升机构的运行速度相对应；当速度反馈信号指示的当前运行速度与预设速度之差大于预设的速度阈值时，说明吊具电缆与起升机构之间的速度之差大于可允许的范围(即上述速度阈值)，对吊具电缆卷盘运行状态的控制处于故障状态。
步骤S308，向控制回路发送第一故障信号，以使控制回路控制起升机构停止运行。通常情况下，上述控制回路与起升机构连接，当接收到控制器发送的第一故障信号，控制回路会切断对起升机构的供电电源，以使起升机构停止运行。
本申请实施例提供了一种吊具电缆卷盘的控制方法，在接收控制回路发送的应急信号后，向卷盘电机发送第一电机控制信号，通过卷盘电机控制吊具电缆卷盘按照方向信号指示的运动方向，以预设速度运行；并接收卷盘电机发送的速度反馈信号，在速度反馈信号指示的当前运行速度与预设速度之差大于预设的速度阈值时，向控制回路发送第一故障信号，以使控制回路控制起升机构停止运行。该方式提高了在应急操作模式下，起重机的吊具电缆与起升机构的同步运动的控制精度及可靠性，并防止由吊具电缆与起升机构不同步导致的事故发生。
本申请实施例还提供另一种吊具电缆卷盘的控制方法，该方法应用于起升机构的控制回路；起升机构的控制回路与控制器连接；控制器、卷盘电机及吊具电缆卷盘依次连接；如图5所示，该方法包括以下步骤：
步骤S400，当接收到用户触发的应急模式指令，向控制器发送应急信号，以使控制器基于应急信号及预设运行参数，通过卷盘电机控制吊具电缆卷盘的运行状态。
上述控制回路通常还与起升机构连接；预设运行参数包括预设速度；上当接收到控制器发送第一故障信号，控制起升机构停止运行；上述第一故障信号由控制器接收卷盘电机发送的速度反馈信号，判断速度反馈信号指示的当前运行速度与预设速度之差大于预设的速度阈值后发送至控制回路。
此外，上述控制回路还与电缆卷盘检测限位连接；电缆卷盘检测限位用于检测吊具电缆卷盘的松紧状态；当控制回路接收到电缆卷盘检测限位发送的第二故障信号，控制起升机构停止运行；第二故障信号用于指示吊具电缆卷盘处于过松或过紧状态。
本申请实施例提供了一种吊具电缆卷盘的控制方法，当接收到用户触发的应急模式指令，向控制器发送应急信号，以使控制器基于应急信号及预设运行参数，通过卷盘电机控制吊具电缆卷盘的运行状态；该方式提高了在应急操作模式下， 起重机的吊具电缆与起升机构的同步运动的控制精度及可靠性，降低了人工成本。
本申请实施例还提供另一种吊具电缆卷盘的控制方法，该方法主要应用于起重机的应急模式，主要解决以下问题：在应急模式下，吊具电缆卷盘(也简称为“卷盘”)的自动控制，吊具电缆卷盘与起升机构的同步运行，以及吊具电缆卷盘运行状态的保护。
该方法基于控制回路、应急电机、应急电源、卷盘电机、卷盘变频器及吊具电缆卷盘电源实现，具体实现过程如图6所示，利用控制回路将相关技术中，仅发送至应急电机的启动信号和方向信号，同时发送至到卷盘变频器(相当于上述实施例中的控制器，也称为变频器)；该启动信号和方向信号通常由操作人员触发控制回路得到；变频器通过预设一个与起升应急机构相同的速度输出(相当于上述实施例中的预设速度)，来控制卷盘的起升或下降速度，从而实现卷盘速度与起升机构速度保持同步运行，减少因人为操作而导致的控制误差或误操作。当吊具电缆卷盘与起升机构的速度差距超过允许范围时，或电缆卷盘监测限位发出电缆过紧或过松信号时，能自动切断应急机构电源，确保操作安全。
应急模式下，起升机构的运行由应急电机驱动，由其控制回路硬回路直接控制；控制回路将起升机构的启动信号和方向信号(上行或下行)的这两个信号发送给吊具电缆卷盘变频器，作为变频器的启动信号和正反信号，来控制变频器的启停和正反转；变频器通过预先设定一个与起升应急机构相同的速度输出，来控制卷盘的起升或下降速度，做到卷盘运行速度与起升机构运行速度同步运行。当吊具电缆卷盘与起升机构的速度差距超过允许范围(速度反馈由卷盘电机实现，卷盘变频器接收到速度反馈后，确定卷盘运行速度与预设速度之差，得到吊具电缆卷盘与起升机构的速度差距)，或电缆卷盘发出电缆过紧或过松信号(由卷盘向应急机构的控制回路发送故障反馈)时，控制回路能自动切换起升机构和吊具电缆卷盘的运行，防止吊具电缆损坏，其工作原理图如图7所示。
该方法基于卷盘变频器的速度预设功能，实现了在应急模式中，吊具电缆卷盘的自动控制，机构与卷盘运行同步的检测，以及对吊具电缆的保护，减少了现场的操作人员，降低了人力成本。
对应于上述吊具电缆卷盘的控制方法实施例，本申请实施例还提供一种吊具电缆卷盘的控制装置，该装置设置于控制器；控制器分别与卷盘电机以及起升机构的控制回路连接；卷盘电机与吊具电缆卷盘连接；卷盘电机与吊具电缆卷盘连接；如图8所示，该装置包括：
信号接收模块700，用于接收应急信号。具体的，用于接收控制回路发送的应急信号；
控制模块702，用于基于应急信号及预设运行参数，控制吊具电缆卷盘的运行状态。具体的，通过卷盘电机控制吊具电缆卷盘的运行状态。
进一步地，上述应急信号包括启动信号及方向信号；预设运行参数包括预设速度；上述控制模块还用于：向卷盘电机发送第一电机控制信号，通过卷盘电机控制吊具电缆卷盘按照方向信号指示的运动方向，以预设速度运行；第一电机控制信号与方向信号指示的运动方向，以及预设速度相对应。
进一步地，上述应急信号包括停止信号；上述控制模块还用于：向卷盘电机发送第二电机控制信号，通过卷盘电机控制吊具电缆卷盘停止运行。
进一步地，上述控制回路还与起升机构连接；上述装置还包括：反馈信号接收模块，用于接收卷盘电机发送的速度反馈信号；速度判断模块，用于判断速度反馈信号指示的当前运行速度与预设速度之差是否大于预设的速度阈值；故障信号发送模块，用于如果是，向控制回路发送第一故障信号，以使控制回路控制起升机构停止运行。
本申请实施例提供的吊具电缆卷盘的控制装置，与上述实施例提供的吊具电缆卷盘的控制方法具有相同的技术特征，所以也能解决相同的技术问题，达到相同的技术效果。
本申请实施例还提供另一种吊具电缆卷盘的控制装置，该装置设置于起升机构的控制回路；起升机构的控制回路与控制器连接；控制器、卷盘电机及吊具电缆卷盘依次连接；如图9所示，该装置包括：
信号发送模块800，用于当接收到用户触发的应急模式指令，向控制器发送应急信号，以使控制器基于应急信号及预设运行参数，通过卷盘电机控制吊具电缆卷盘的运行状态。
进一步地，上述控制回路还与起升机构连接；预设运行参数包括预设速度；上述装置还包括：第一故障控制模块，用于当接收到控制器发送第一故障信号，控制起升机构停止运行；上述第一故障信号由控制器接收卷盘电机发送的速度反馈信号，判断速度反馈信号指示的当前运行速度与预设速度之差大于预设的速度阈值后发送至控制回路。
进一步地，上述控制回路还与电缆卷盘检测限位及起升机构连接；电缆卷盘检测限位用于检测吊具电缆卷盘的松紧状态；上述装置还包括：第二故障控制模块，当接收到电缆卷盘检测限位发送的第二故障信号，控制起升机构停止运行；第二故障信号用于指示吊具电缆卷盘处于过松或过紧状态。
本申请实施例提供的另一种吊具电缆卷盘的控制装置，与上述实施例提供的吊具电缆卷盘的控制方法具有相同的技术特征，所以也能解决相同的技术问题，达到相同的技术效果。
基于上述实施例，本申请实施例还提供一种起重机，如图10所示，该起重机包括依次连接的起升机构90、控制回路91、控制器92、卷盘电机93以及吊具电缆卷盘94；上述一种吊具电缆卷盘的控制装置设置于控制器；上述另一种吊具电 缆卷盘的控制装置设置于控制回路。
本申请实施例所提供的吊具电缆卷盘的控制方法、装置以及起重机的计算机程序产品，包括存储了程序代码的计算机可读存储介质，所述程序代码包括的指令可用于执行前面方法实施例中所述的方法，具体实现可参见方法实施例，在此不再赘述。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统和装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
另外，在本申请实施例的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
在本申请的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
最后应说明的是：以上实施例，仅为本申请的具体实施方式，用以说明本申请的技术方案，而非对其限制，本申请的保护范围并不局限于此，尽管参照前述实施例对本申请进行了详细的说明，本领域技术人员应当理解：任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本申请实施例技术方案的精神和范围，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (24)

  1. 一种吊具电缆卷盘的控制方法，所述方法应用于所述吊具电缆卷盘的控制器；所述方法包括：
    接收应急信号；以及
    基于所述应急信号及预设运行参数，控制所述吊具电缆卷盘的运行状态。
  2. 根据权利要求1所述的方法，其中，所述控制器分别与卷盘电机以及起升机构的控制回路连接；所述卷盘电机与所述吊具电缆卷盘连接；
    所述接收应急信号包括：
    接收所述控制回路发送的应急信号；
    所述基于所述应急信号及预设运行参数，控制所述吊具电缆卷盘的运行状态包括：
    基于所述应急信号及预设运行参数，通过所述卷盘电机控制所述吊具电缆卷盘的运行状态。
  3. 根据权利要求2所述的方法，其中，所述应急信号包括启动信号及方向信号；所述预设运行参数包括预设速度；
    所述基于所述应急信号及预设运行参数，通过所述卷盘电机控制所述吊具电缆卷盘的运行状态步骤，包括：
    向所述卷盘电机发送第一电机控制信号，通过所述卷盘电机控制所述吊具电缆卷盘按照所述方向信号指示的运动方向，且以所述预设速度运行；其中，所述第一电机控制信号与所述方向信号指示的运动方向、所述预设速度相对应。
  4. 根据权利要求1至3中任一项所述的方法，其中，所述应急信号包括停止信号；
    所述基于所述应急信号及预设运行参数，控制所述吊具电缆卷盘的运动状态包括：
    控制所述吊具电缆卷盘停止运行。
  5. 根据权利要求2或3所述的方法，其中，所述应急信号包括停止信号；
    所述基于所述应急信号及预设运行参数，通过所述卷盘电机控制所述吊具电缆卷盘的运动状态包括：
    向所述卷盘电机发送第二电机控制信号，通过所述卷盘电机控制所述吊具电缆卷盘停止运行。
  6. 根据权利要求1至5中任一项所述的方法，其中，还包括：
    接收速度反馈信号；
    当所述速度反馈信号指示的当前运行速度与预设速度之差大于预设的速度阈 值时，发送第一故障信号。
  7. 根据权利要求2或3所述的方法，其中，所述控制回路还与起升机构连接；所述方法还包括：
    接收所述卷盘电机发送的速度反馈信号；
    当所述速度反馈信号指示的当前运行速度与预设速度之差大于预设的速度阈值时，向所述控制回路发送第一故障信号，以使所述控制回路控制所述起升机构停止运行。
  8. 一种吊具电缆卷盘的控制方法，所述方法应用于起升机构的控制回路；所述起升机构的控制回路与控制器连接；所述控制器、卷盘电机及所述吊具电缆卷盘依次连接；所述方法包括：
    当接收到应急模式指令，向所述控制器发送应急信号，以使所述控制器基于所述应急信号及预设运行参数，控制所述吊具电缆卷盘的运行状态。
  9. 根据权利要求8所述的方法，其中，所述控制器、卷盘电机及所述吊具电缆卷盘依次连接；
    所述控制所述吊具电缆卷盘的运行状态包括：
    通过所述卷盘电机控制所述吊具电缆卷盘的运行状态。
  10. 根据权利要求8或9所述的方法，其中，所述控制回路还与起升机构连接；所述预设运行参数包括预设速度；所述方法还包括：
    当接收到所述控制器发送第一故障信号时，控制所述起升机构停止运行；
    所述第一故障信号由所述控制器接收所述卷盘电机发送的速度反馈信号，且所述速度反馈信号指示的当前运行速度与所述预设速度之差大于预设的速度阈值后发送至所述控制回路。
  11. 根据权利要求8至10中任一项所述的方法，其中，所述控制回路还与电缆卷盘检测限位及起升机构连接；所述电缆卷盘检测限位用于检测所述吊具电缆卷盘的松紧状态；所述方法还包括：
    当接收到所述电缆卷盘检测限位发送的第二故障信号时，控制所述起升机构停止运行；所述第二故障信号用于指示所述吊具电缆卷盘处于过松或过紧状态。
  12. 一种吊具电缆卷盘的控制装置，所述装置设置于所述吊具电缆卷盘的控制器；所述装置包括：
    信号接收模块，用于接收应急信号；以及
    控制模块，用于基于所述应急信号及预设运行参数，控制所述吊具电缆卷盘的运行状态。
  13. 根据权利要求12所述的装置，其中，所述控制器分别与卷盘电机以及起升机构的控制回路连接；所述卷盘电机与所述吊具电缆卷盘连接；
    所述信号接收模块配置为：接收所述控制回路发送的应急信号；
    所述控制模块配置为：基于所述应急信号及预设运行参数，通过所述卷盘电机控制所述吊具电缆卷盘的运行状态。
  14. 根据权利要求13所述的装置，其中，所述应急信号包括启动信号及方向信号；所述预设运行参数包括预设速度；
    所述控制模块配置为：向所述卷盘电机发送第一电机控制信号，通过所述卷盘电机控制所述吊具电缆卷盘按照所述方向信号指示的运动方向，且以所述预设速度运行；其中，所述第一电机控制信号与所述方向信号指示的运动方向、所述预设速度相对应。
  15. 根据权利要求12至14中任一项所述的装置，其中，所述应急信号包括停止信号；
    所述控制模块配置为：控制所述吊具电缆卷盘停止运行。
  16. 根据权利要求13或14所述的装置，其中，所述应急信号包括停止信号；
    所述控制模块配置为：向所述卷盘电机发送第二电机控制信号，通过所述卷盘电机控制所述吊具电缆卷盘停止运行。
  17. 根据权利要求12至16中任一项所述的装置，其中，还包括：
    反馈信号接收模块，用于接收速度反馈信号；以及
    故障信号发送模块，用于当所述速度反馈信号指示的当前运行速度与预设速度之差大于预设的速度阈值时，发送第一故障信号。
  18. 根据权利要求13或14所述的装置，其中，所述控制回路还与起升机构连接；所述装置还包括：
    反馈信号接收模块，用于接收所述卷盘电机发送的速度反馈信号；
    故障信号发送模块，用于当所述速度反馈信号指示的当前运行速度与预设速度之差大于预设的速度阈值时，向所述控制回路发送第一故障信号，以使所述控制回路控制所述起升机构停止运行。
  19. 一种吊具电缆卷盘的控制装置，所述装置设置于起升机构的控制回路；所述起升机构的控制回路与控制器连接；所述控制器、卷盘电机及吊具电缆卷盘依次连接；所述装置包括：
    信号发送模块，用于当接收到应急模式指令，向所述控制器发送应急信号，以使所述控制器基于所述应急信号及预设运行参数，控制所述吊具电缆卷盘的运行状态。
  20. 根据权利要求19所述的装置，其中，所述控制器、卷盘电机及所述吊具电缆卷盘依次连接；
    所述信号发送模块配置为：通过所述卷盘电机控制所述吊具电缆卷盘的运行状态。
  21. 根据权利要求19或20所述的装置，其中，所述控制回路还与起升机构连 接；所述预设运行参数包括预设速度；所述装置还包括：
    第一故障控制模块，用于当接收到所述控制器发送第一故障信号时，控制所述起升机构停止运行；
    所述第一故障信号由所述控制器接收所述卷盘电机发送的速度反馈信号，且所述速度反馈信号指示的当前运行速度与所述预设速度之差大于预设的速度阈值后发送至所述控制回路。
  22. 根据权利要求19至21中任一项所述的装置，其中，所述控制回路还与电缆卷盘检测限位及起升机构连接；所述电缆卷盘检测限位用于检测所述吊具电缆卷盘的松紧状态；所述装置还包括：
    第二故障控制模块，用于当接收到所述电缆卷盘检测限位发送的第二故障信号时，控制所述起升机构停止运行；所述第二故障信号用于指示所述吊具电缆卷盘处于过松或过紧状态。
  23. 一种起重机，所述起重机包括依次连接的起升机构、控制回路、控制器、卷盘电机以及吊具电缆卷盘；所述控制器包括权利要求12至18中任一项所述控制装置；所述控制回路包括权利要求19至22中任一项所述控制装置。
  24. 一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序用于执行上述权利要求1至11中任一所述的方法。
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