CN117566602A - Lifting system and control method thereof - Google Patents
Lifting system and control method thereof Download PDFInfo
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- CN117566602A CN117566602A CN202311605113.XA CN202311605113A CN117566602A CN 117566602 A CN117566602 A CN 117566602A CN 202311605113 A CN202311605113 A CN 202311605113A CN 117566602 A CN117566602 A CN 117566602A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/08—Driving gear incorporating fluid motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D3/00—Portable or mobile lifting or hauling appliances
- B66D3/04—Pulley blocks or like devices in which force is applied to a rope, cable, or chain which passes over one or more pulleys, e.g. to obtain mechanical advantage
- B66D3/06—Pulley blocks or like devices in which force is applied to a rope, cable, or chain which passes over one or more pulleys, e.g. to obtain mechanical advantage with more than one pulley
- B66D3/08—Arrangements of sheaves
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a lifting system and a control method thereof, wherein the lifting system comprises a fixed pulley, a steel cable and a lifting hook, and further comprises: the hydraulic driving device is arranged on one side of the fixed pulley and provides power for the positive and negative rotation of the fixed pulley so as to pull the steel cable to realize lifting of the lifting hook; the sensor group is distributed on the fixed pulley, the lifting hook and the hydraulic driving device and is used for measuring lifting displacement of the lifting hook and load on the fixed pulley; and the controller is electrically connected with the hydraulic driving device and the sensor group and is used for receiving the measurement data of the sensor group and reliably controlling the start and stop of the hydraulic driving device according to the measurement data. The controller can comprehensively analyze the measurement data of the plurality of sensor groups to realize the accurate control of the hydraulic driving device, so that the lifting precision and stability of the lifting hook are improved, the safety and reliability of the whole lifting system are further improved, and the whole lifting process is more intelligent and automatic due to the real-time monitoring and accurate control of the plurality of sensors.
Description
Technical Field
The invention belongs to the technical field of lifting control, and more particularly relates to a lifting system and a control method thereof.
Background
In the field of lifting control of engineering machinery, accurate load control and safe and reliable operation are of paramount importance. Through years of research and development and practice, the lifting control system is relatively mature and is widely applied to various engineering mechanical equipment. However, existing lifting systems still present challenges when faced with complex environments and heavy duty high-strength work. On the one hand, although lifting control systems have made good progress in the control of the lifting and lowering of a load, continuous efforts are still required in ensuring the safety and reliability of the control. When a system fails, it is often necessary to shut down for maintenance, which makes the equipment unable to maintain good operation for a long period of time. Such limitations make it difficult for existing lifting systems to cope with some application scenarios that require long-term stable operation. On the other hand, the existing lifting system has a certain limitation in bearing capacity. When facing the working demands of heavy load and high strength, the bearing capacity of the device is relatively small, and the actual demands of the device cannot be met. Such short plates limit the use of the lifting system in certain heavy construction machines.
Therefore, how to improve the reliability and safety of the lifting system is an important issue to be solved and to be studied all the time by those skilled in the art.
Disclosure of Invention
In order to solve the technical problems of lower safety and reliability of the existing lifting system, the invention innovatively provides the lifting system and the control method thereof, and the accurate control and the real-time monitoring of the load can be realized, so that the safety and the reliability of the lifting control are improved, and meanwhile, the stability and the durability of the lifting system are improved, so that the working requirements of complex environments and heavy loads with high strength are met. The lifting control system can promote the upgrading and updating of lifting control, provides more efficient and reliable support and solution for engineering machinery and other application scenes, is beneficial to improving the running efficiency and quality of a lifting system, and can meet the requirements of various different application scenes.
To achieve the above technical purpose, the embodiment of the invention discloses a lifting system, which comprises a fixed pulley, a steel cable and a lifting hook, and further comprises:
the hydraulic driving device is arranged on one side of the fixed pulley and provides power for the positive and negative rotation of the fixed pulley so as to pull the steel cable to realize lifting of the lifting hook;
the sensor group is distributed on the fixed pulley, the lifting hook and the hydraulic driving device and is used for measuring lifting displacement of the lifting hook and load on the fixed pulley; the method comprises the steps of,
and the controller is electrically connected with the hydraulic driving device and the sensor group and is used for receiving the measurement data of the sensor group and reliably controlling the start and stop of the hydraulic driving device according to the measurement data.
Further, the present invention provides a lifting system, wherein the hydraulic driving device comprises:
the oil source motor driver is electrically connected with the controller and is used for receiving a starting instruction sent by the controller so as to control the oil source motor to rotate or receiving a stopping instruction sent by the controller so as to control the oil source motor to stop rotating;
the oil source motor is electrically connected with the oil source motor driver and is used for responding to the control rotation or the stop rotation of the oil source motor driver;
the input end of the hydraulic valve is connected with the oil source motor, the output end of the hydraulic valve is connected with the hydraulic motor, and the control end of the hydraulic valve is electrically connected with the controller and is used for receiving the controller to change the valve position of the hydraulic valve so as to control the flow direction of high-pressure oil pumped by the oil source motor in the hydraulic motor and further control the forward and reverse rotation of the hydraulic motor;
the hydraulic motor is coaxially arranged with the fixed pulley and is used for driving the fixed pulley to rotate; the method comprises the steps of,
and the brake is arranged on the oil source motor and is electrically connected with the controller and used for receiving a braking instruction sent by the controller to control the oil source motor to carry out emergency braking.
Further, the invention provides a lifting system, wherein the sensor group comprises:
the first displacement sensor is arranged on the lifting hook and used for measuring lifting displacement of the lifting hook to obtain first displacement data;
the second displacement sensor is arranged on the brake and used for measuring the lifting displacement of the lifting hook to obtain second displacement data;
the angle sensor is arranged on the fixed pulley, is used for measuring the rotation angle of the fixed pulley, and converts the rotation angle of the fixed pulley into lifting displacement of the lifting hook to obtain third displacement data;
the first load sensor is arranged on the left side of the fixed pulley and is used for measuring the load on the left side of the fixed pulley to obtain first load data; the method comprises the steps of,
and the second load sensor is arranged on the right side of the fixed pulley and is used for measuring the load on the right side of the fixed pulley to obtain second load data.
Furthermore, the lifting system comprises a first displacement sensor, a second displacement sensor, an angle sensor, a first load sensor, a second load sensor, an oil source motor driver and a brake which are all in communication connection with a controller through a CAN bus.
The invention also provides a control method of the lifting system, which comprises the following steps:
after the lifting system is electrified, the controller performs electrification self-detection on the first displacement sensor, the second displacement sensor, the angle sensor, the first load sensor and the second load sensor;
when the controller receives the lifting instruction, a starting instruction is sent to the oil source motor driver through the CAN bus, and the oil source motor driver controls the oil source motor to rotate so as to realize the starting of the oil source;
after the oil source is started, the valve position of the hydraulic valve is changed through the IO port by the controller, so that the forward and reverse rotation of the hydraulic motor are controlled, and the fixed pulley is driven by the hydraulic motor to rotate, so that the lifting hook is controlled to lift;
in the lifting process of the lifting hook, the controller realizes reliable control of the lifting system according to data measured by the first displacement sensor, the second displacement sensor, the angle sensor, the first load sensor and the second load sensor.
Further, in the lifting system control method, in the lifting process of the lifting hook, the controller acquires first displacement data, second displacement data and third displacement data respectively measured by the first displacement sensor, the second displacement sensor and the angle sensor through the CAN bus, compares the first displacement data, the second displacement data and the third displacement data, and adaptively controls the lifting process of the lifting hook according to the comparison result.
Further, according to the control method of the lifting system, if the values of the first displacement data, the second displacement data and the third displacement data are consistent, the controller controls lifting of the lifting hook according to the displacement data of the first displacement sensor;
if one of the first displacement data, the second displacement data and the third displacement data deviates from the other two in value, the controller selects one of the two corresponding displacement sensors with similar values to control lifting of the lifting hook;
if the values of the first displacement data, the second displacement data and the third displacement data are all deviated, the controller sends a braking instruction to the brake and a stopping instruction to the oil source motor driver through the CAN bus, and meanwhile, the controller controls the hydraulic valve to be closed through the IO port, so that emergency stop is realized.
Further, in the control method of the lifting system, in the lifting process of the lifting hook, the controller acquires first load data and second load data respectively measured by the first load sensor and the second load sensor through the CAN bus;
the controller compares whether the difference value between the first load data and the second load data exceeds a set load threshold value, if not, the controller continuously controls the lifting hook to lift; if yes, the controller sends a braking instruction to the brake through the CAN bus and a stopping instruction to the oil source motor driver, and meanwhile, the controller controls the hydraulic valve to be closed through the IO port, so that emergency stop is realized.
Further, in the lifting system control method, in the lifting process of the lifting hook, the controller acquires first displacement data, second displacement data and third displacement data respectively measured by the first displacement sensor, the second displacement sensor and the angle sensor through the CAN bus, the lifting speed of the lifting hook is calculated by the controller according to one of the first displacement data, the second displacement data and the third displacement data, if the lifting speed of the lifting hook exceeds a set speed threshold value, the controller sends a braking instruction to the brake through the CAN bus and sends a stopping instruction to the oil source motor driver, and meanwhile, the controller controls the hydraulic valve to be closed through the IO port so as to realize emergency stop.
Further, the control method of the lifting system of the invention, wherein the power-on self-test comprises the following steps:
the controller receives the values measured by the first displacement sensor, the second displacement sensor, the third displacement sensor, the first load sensor and the second load sensor through the CAN bus, judges whether the values measured by the first displacement sensor, the second displacement sensor, the third displacement sensor, the first load sensor and the second load sensor are within a preset range threshold value, and if yes, executes the lifting process of the lifting hook by the controller; if not, the sensor corresponding to the abnormal constant value is maintained or replaced.
The beneficial effects of the invention are as follows: the invention adopts a hydraulic driving mode to finish lifting, can keep a good state for a long time, is suitable for application scenes needing long-time operation, can stably adjust the traction speed in a given range, is suitable for various application scenes, has higher bearing capacity, and can meet the working requirements of heavy load and high strength. The controller is used for comprehensively analyzing the measurement data of the plurality of sensor groups, so that the hydraulic driving device can be accurately controlled. The accurate control ensures that the lifting precision and stability of the lifting hook are improved, and the safety and reliability of the whole lifting system are further enhanced. And the real-time monitoring and the accurate control of a plurality of sensors make the whole hoisting process more intelligent and automatic, and make the hoisting work easier and more efficient.
Drawings
FIG. 1 is a schematic diagram of a lifting system according to the present invention;
fig. 2 is a control schematic block diagram of a lifting system according to the present invention.
Detailed Description
A lifting system according to the invention will be explained and illustrated in detail below with reference to the accompanying drawings.
As shown in fig. 1 in combination with fig. 2, the embodiment of the present invention discloses a lifting system comprising a fixed pulley 1, a wire rope 2 and a hook 3, further comprising: the hydraulic driving device is arranged on one side of the fixed pulley 1 and provides power for the positive and negative rotation of the fixed pulley 1, and then the steel cable 2 is pulled to realize the lifting of the lifting hook 3; the sensor groups are distributed on the fixed pulley 1, the lifting hook 3 and the hydraulic driving device and are used for measuring lifting displacement of the lifting hook 3 and load on the fixed pulley 1; and the controller 4 is electrically connected with the hydraulic driving device and the sensor group and is used for receiving the measurement data of the sensor group and reliably controlling the start and stop of the hydraulic driving device according to the measurement data.
In practical application, the fixed pulley 1 realizes lifting of the lifting hook 3 through forward and reverse rotation of the hydraulic driving device, and the sensor group is responsible for collecting lifting displacement of the lifting hook 3 and load data on the fixed pulley 1 and transmitting the data to the controller 4. After receiving these data, the controller 4 performs data processing and analysis according to a preset control algorithm, and precisely controls the starting and stopping of the hydraulic driving device according to the analysis result.
The arrangement mode not only can improve the accuracy and the safety of lifting of the lifting hook 3, but also can adjust and control the hydraulic driving device in real time according to actual conditions so as to adapt to different lifting requirements and working conditions. Meanwhile, the running states of the lifting hook 3, the fixed pulley 1 and other components can be monitored through data collected by the sensor group, potential safety hazards can be found and processed in time, and the reliability and safety of the whole lifting system are further improved. In addition, the controller 4 can be connected with external equipment and interacted with data according to actual needs, for example, the controller is linked and controlled with a remote monitoring center, other lifting systems or automation equipment, so that more intelligent lifting operation and management are realized. The lifting system comprising the fixed pulley 1, the steel cable 2 and the lifting hook 3 can realize safer, more accurate and more efficient lifting control of the lifting hook 3 by introducing advanced technical means such as a hydraulic driving device, a sensor group and a controller 4, and provides a reliable solution for various industrial application scenes.
Those skilled in the art will appreciate that the controller 4 may employ a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable GateArray) Field programmable gate array, a MCU (Microcontroller Unit) system board, a SoC (system on a chip) system board, or an PLC (Programmable Logic Controller) minimum system including I/O.
In one embodiment of the invention, the hydraulic drive device comprises the following five parts:
oil source motor driver 5: the device is electrically connected with the controller 4 and is responsible for receiving a starting instruction sent by the controller 4 so as to control the oil source motor 6 to start rotating; at the same time, it also receives a stop command sent by the controller 4 to stop the rotation of the oil source motor 6.
Oil source motor 6: the device is electrically connected to the oil source motor driver 5, and is capable of rotating or stopping rotating in response to a control command of the oil source motor driver 5.
Hydraulic valve 7: the input end of the hydraulic valve 7 is connected with the oil source motor 6, the output end is connected with the hydraulic motor, and the control end is electrically connected with the controller 4. The functions of the valves are to receive the instruction of the controller 4, change the valve position of the valve, and further control the flow direction of the high-pressure oil pumped by the oil source motor 6 in the hydraulic motor, so that the forward and reverse rotation of the hydraulic motor are controlled.
A hydraulic motor: the device is coaxially arranged with the fixed pulley 1 and has the function of being driven by the hydraulic valve 7 to drive the fixed pulley 1 to rotate.
Brake 8: the device is mounted on the oil source motor 6 and is electrically connected with the controller 4. The function of the motor is to receive a braking command sent by the controller 4 and to perform emergency braking on the oil source motor 6.
In this embodiment, the hydraulic driving device is made to perform excellently through the above arrangement, and has the characteristics of high efficiency, stability, reliability and intelligence. Wherein the oil source motor driver 5 can rapidly respond to the start and stop instructions of the controller 4 to precisely control the rotation and stop of the oil source motor 6. The hydraulic valve 7 can intelligently adjust its valve position according to the instruction of the controller 4, so as to control the forward and reverse rotation of the hydraulic motor. The hydraulic motor can convert hydraulic energy into mechanical energy to drive the fixed pulley 1 to rotate, so that the movement of equipment is realized. The brake 8 can receive the braking instruction of the controller 4 under emergency, and rapidly brake the oil source motor 6, so that the safety of equipment and personnel is ensured. In addition, the hydraulic driving device has the advantages of compact structure, small volume, light weight, convenient maintenance and the like. Due to the adoption of advanced hydraulic technology and intelligent control technology, the device can adapt to various complex working environments and task demands, is widely applied to a plurality of fields of engineering machinery, agricultural machinery, chemical machinery and the like, and has wide application prospect and market prospect.
In an embodiment of the present invention, the sensor group includes five sensors, where the five sensors are respectively:
the first displacement sensor 9 mounted on the hook 3 has a main function of measuring the lifting displacement of the hook 3 and generating first displacement data.
A second displacement sensor 10, which is mounted to the actuator 8 and has a main function of measuring the lifting displacement of the hook 3 and generating second displacement data.
The angle sensor 11 mounted on the fixed pulley 1 has a main function of measuring the rotation angle of the fixed pulley 1, generating lifting displacement of the lifting hook 3 according to the rotation angle conversion of the fixed pulley 1, and further generating third displacement data. It will be appreciated by those skilled in the art that the angle sensor 11 is preferably a multi-turn position sensor that outputs a voltage signal proportional to the displacement, and that the angle sensor 11 can be converted into displacement data by passing through the transmitting module according to its correspondence when outputting the voltage signal.
The first load sensor 12, which is installed on the left side of the fixed sheave 1, has a main function of measuring the load on the left side of the fixed sheave 1 and generating first load data. The method comprises the steps of,
the second load sensor 13, which is mounted on the right side of the fixed sheave 1, has the main function of measuring the load on the right side of the fixed sheave 1 and generating second load data.
In this embodiment, the sensor assembly can fully monitor the running state of the lifting system, provide accurate information reference for operators, and help to improve the safety and stability of the lifting hook 3 lifting system. Meanwhile, the method has important guiding significance for preventive maintenance and fault investigation.
In an embodiment of the invention, the first displacement sensor 9, the second displacement sensor 10, the angle sensor 11, the first load sensor 12, the second load sensor 13, the oil source motor driver 5 and the brake 8 are all communicatively connected to the controller 4 via a CAN bus 14.
In the present embodiment, with this structure, the controller 4 can acquire the state information of the lifting system in real time and accurately control the movement of the lifting system according to the information. Meanwhile, the highly interconnected structure enables the lifting system to adapt to various complex environments and tasks, so that the flexibility and the efficiency of the lifting system are improved.
As shown in fig. 2, the present invention further provides a control method of the lifting system, where the control method includes the following steps:
after the lifting system is electrified, the controller 4 performs power-on self-test on the first displacement sensor 9, the second displacement sensor 10, the angle sensor 11, the first load sensor 12 and the second load sensor 13;
when the controller 4 receives the lifting instruction, a starting instruction is sent to the oil source motor driver 5 through the CAN bus 14, and the oil source motor driver 5 controls the oil source motor 6 to rotate so as to realize the starting of an oil source;
after the oil source is started, the valve position of the hydraulic valve element 7 is changed through an IO port by the controller 4, so that the forward and reverse rotation of the hydraulic motor are controlled, and the fixed pulley 1 is driven by the hydraulic motor to rotate, so that the lifting hook 3 is controlled to lift;
during lifting of the lifting hook 3, the controller 4 realizes reliable control of the lifting system according to data measured by the first displacement sensor 9, the second displacement sensor 10, the angle sensor 11, the first load sensor 12 and the second load sensor 13.
During operation of the lifting system, the controller 4 will monitor the data of the sensors in real time, including the position of the hooks 3, the load etc., to ensure safe and stable operation of the lifting system. And the reasonable control of the lifting system by the controller 4 can optimize the energy consumption of the lifting system, so as to realize the aims of energy conservation and emission reduction.
On the basis of the above method embodiment, in the present embodiment, during the lifting process of the lifting hook 3, the controller 4 obtains the first displacement data, the second displacement data and the third displacement data respectively measured by the first displacement sensor 9, the second displacement sensor 10 and the angle sensor 11 through the CAN bus 14, compares the first displacement data, the second displacement data and the third displacement data, and adaptively controls the lifting process of the lifting hook 3 according to the comparison result.
If the values of the first displacement data, the second displacement data and the third displacement data are consistent, the controller 4 controls the lifting hook 3 to lift according to the displacement data of the first displacement sensor 9. In this case, the controller 4 will adjust the lifting of the hook 3 in dependence on the measurement data of the first displacement sensor 9.
If one of the first displacement data, the second displacement data and the third displacement data deviates from the other two in value, the controller 4 selects one of the two corresponding displacement sensors with similar values to control the lifting hook 3 to lift. This means that the controller 4 will select sensor data that is closer to the other two sensor measurements to regulate the lifting of the hook 3.
If the values of the first displacement data, the second displacement data and the third displacement data are all deviated, the controller 4 sends a braking command to the brake 8 and a stopping command to the oil source motor driver 5 through the CAN bus 14, and meanwhile, the controller 4 controls the hydraulic valve 7 to be closed through the IO port, so that emergency stop is realized. In this case, if there is a deviation in the measurement data of all the sensors, the controller 4 will send a command to the brake 8 and the oil source motor driver 5 through the CAN bus 14, and simultaneously control the hydraulic valve 7 to close through the IO port, so as to achieve an emergency stop of the hook 3.
During lifting of the lifting hook 3, the controller 4 acquires first load data and second load data respectively measured by the first load sensor 12 and the second load sensor 13 through the CAN bus 14;
comparing whether the difference value between the first load data and the second load data exceeds a set load threshold value by the controller 4, and if not, continuously controlling the lifting hook 3 to lift by the controller 4; if yes, the controller 4 sends a braking instruction to the brake 8 through the CAN bus 14 and a stopping instruction to the oil source motor driver 5, and meanwhile, the controller 4 controls the hydraulic valve 7 to be closed through the IO port, so that emergency stop is realized.
In the lifting process of the lifting hook 3, the controller 4 acquires first displacement data, second displacement data and third displacement data respectively measured by the first displacement sensor 9, the second displacement sensor 10 and the angle sensor 11 through the CAN bus 14, the lifting speed of the lifting hook 3 is calculated by the controller 4 according to one of the first displacement data, the second displacement data and the third displacement data, if the lifting speed of the lifting hook 3 exceeds a set speed threshold value, the controller 4 sends a braking instruction to the brake 8 through the CAN bus 14 and a stopping instruction to the oil source motor driver 5, and meanwhile, the controller 4 controls the hydraulic valve 7 to be closed through the IO port to realize emergency stop.
By the method, the lifting process of the lifting hook 3 can be more stable and safer. Meanwhile, the adaptive control can effectively cope with different conditions, and the control precision and stability of the lifting system are improved. In the lifting process of the lifting hook 3, the controller 4 CAN also monitor the data change of each sensor in real time through the CAN bus 14 and timely adjust the control strategy to ensure that the lifting hook 3 CAN stably finish the lifting task. The method not only can improve the control precision and stability of the lifting system, but also can prolong the service life of the lifting system and reduce the maintenance cost. Through the adaptability control, different conditions can be better dealt with, and the control effect and the safety of the lifting system are improved.
On the basis of the above method embodiment, in this embodiment, the power-on self-test includes the following steps:
the controller receives the values measured by the first displacement sensor, the second displacement sensor, the third displacement sensor, the first load sensor and the second load sensor through the CAN bus, judges whether the values measured by the first displacement sensor, the second displacement sensor, the third displacement sensor, the first load sensor and the second load sensor are within a preset range threshold value, and if yes, executes the lifting process of the lifting hook by the controller; if not, the sensor corresponding to the abnormal constant value is maintained or replaced.
Through the steps, the controller receives the measured values of the first displacement sensor, the second displacement sensor, the third displacement sensor, the first load sensor and the second load sensor through the CAN bus, and judges whether the measured values of the first displacement sensor, the second displacement sensor, the third displacement sensor, the first load sensor and the second load sensor are within a preset range threshold value or not. Under normal conditions, if all measured values are within a predetermined range threshold, the controller will execute the lifting procedure of the lifting hook. At this time, the lifting hook can be lifted according to a preset program and data fed back by the sensor, so that accuracy and safety of the whole operation process are ensured. However, if any of the measured values is not within the predetermined range threshold, the controller determines an outlier. At this time, the controller will trigger an alarm, notify the operator of the abnormal condition, and instruct the sensor corresponding to the abnormal value to be repaired or replaced. After the sensor is maintained or replaced, the controller will again detect and judge, and after confirming that all the measured values are within the predetermined range threshold, the lifting process of the lifting hook will be continuously executed. The design can effectively ensure the accuracy and the safety of the operation of the lifting hook, and can effectively improve the working efficiency and the maintenance cost.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are 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 the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
The above description is only of the preferred embodiments of the present invention, and is not intended to limit the invention, but any modifications, equivalents, and simple improvements made within the spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. A lifting system comprising a fixed pulley, a wire rope and a hook, characterized in that it further comprises:
the hydraulic driving device is arranged on one side of the fixed pulley and provides power for the positive and negative rotation of the fixed pulley so as to pull the steel cable to realize lifting of the lifting hook;
the sensor group is distributed on the fixed pulley, the lifting hook and the hydraulic driving device and is used for measuring lifting displacement of the lifting hook and load on the fixed pulley; the method comprises the steps of,
and the controller is electrically connected with the hydraulic driving device and the sensor group and is used for receiving the measurement data of the sensor group and reliably controlling the start and stop of the hydraulic driving device according to the measurement data.
2. A lifting system as claimed in claim 1, wherein the hydraulic drive means comprises:
the oil source motor driver is electrically connected with the controller and is used for receiving a starting instruction sent by the controller so as to control the oil source motor to rotate or receiving a stopping instruction sent by the controller so as to control the oil source motor to stop rotating;
the oil source motor is electrically connected with the oil source motor driver and is used for responding to the control rotation or the stop rotation of the oil source motor driver;
the input end of the hydraulic valve is connected with the oil source motor, the output end of the hydraulic valve is connected with the hydraulic motor, and the control end of the hydraulic valve is electrically connected with the controller and is used for receiving the controller to change the valve position of the hydraulic valve so as to control the flow direction of high-pressure oil pumped by the oil source motor in the hydraulic motor and further control the forward and reverse rotation of the hydraulic motor;
the hydraulic motor is coaxially arranged with the fixed pulley and is used for driving the fixed pulley to rotate; the method comprises the steps of,
and the brake is arranged on the oil source motor and is electrically connected with the controller and used for receiving a braking instruction sent by the controller to control the oil source motor to carry out emergency braking.
3. A lifting system as recited in claim 2, wherein said set of sensors comprises:
the first displacement sensor is arranged on the lifting hook and used for measuring lifting displacement of the lifting hook to obtain first displacement data;
the second displacement sensor is arranged on the brake and used for measuring the lifting displacement of the lifting hook to obtain second displacement data;
the angle sensor is arranged on the fixed pulley, is used for measuring the rotation angle of the fixed pulley, and converts the rotation angle of the fixed pulley into lifting displacement of the lifting hook to obtain third displacement data;
the first load sensor is arranged on the left side of the fixed pulley and is used for measuring the load on the left side of the fixed pulley to obtain first load data; the method comprises the steps of,
and the second load sensor is arranged on the right side of the fixed pulley and is used for measuring the load on the right side of the fixed pulley to obtain second load data.
4. A lifting system according to claim 3, wherein the first displacement sensor, the second displacement sensor, the angle sensor, the first load sensor, the second load sensor, the oil source motor drive and the brake are all communicatively connected to the controller via a CAN bus.
5. A control method of a lifting system according to claim 3, characterized in that the control method comprises the steps of:
after the lifting system is electrified, the controller performs electrification self-detection on the first displacement sensor, the second displacement sensor, the angle sensor, the first load sensor and the second load sensor;
when the controller receives the lifting instruction, a starting instruction is sent to the oil source motor driver through the CAN bus, and the oil source motor driver controls the oil source motor to rotate so as to realize the starting of the oil source;
after the oil source is started, the valve position of the hydraulic valve is changed through the IO port by the controller, so that the forward and reverse rotation of the hydraulic motor are controlled, and the fixed pulley is driven by the hydraulic motor to rotate, so that the lifting hook is controlled to lift;
in the lifting process of the lifting hook, the controller realizes reliable control of the lifting system according to data measured by the first displacement sensor, the second displacement sensor, the angle sensor, the first load sensor and the second load sensor.
6. The method according to claim 5, wherein the controller obtains first displacement data, second displacement data and third displacement data respectively measured by the first displacement sensor, the second displacement sensor and the angle sensor through the CAN bus during lifting of the lifting hook, compares the first displacement data, the second displacement data and the third displacement data, and adaptively controls the lifting process of the lifting hook according to the comparison result.
7. The method according to claim 5, wherein the controller controls lifting of the hook according to the displacement data of the first displacement sensor if the values of the first displacement data, the second displacement data, and the third displacement data are identical;
if one of the first displacement data, the second displacement data and the third displacement data deviates from the other two in value, the controller selects one of the two corresponding displacement sensors with similar values to control lifting of the lifting hook;
if the values of the first displacement data, the second displacement data and the third displacement data are all deviated, the controller sends a braking instruction to the brake and a stopping instruction to the oil source motor driver through the CAN bus, and meanwhile, the controller controls the hydraulic valve to be closed through the IO port, so that emergency stop is realized.
8. The control method of a lifting system according to claim 5, wherein the controller obtains first load data and second load data measured by the first load sensor and the second load sensor respectively through the CAN bus during lifting of the lifting hook;
the controller compares whether the difference value between the first load data and the second load data exceeds a set load threshold value, if not, the controller continuously controls the lifting hook to lift; if yes, the controller sends a braking instruction to the brake through the CAN bus and a stopping instruction to the oil source motor driver, and meanwhile, the controller controls the hydraulic valve to be closed through the IO port, so that emergency stop is realized.
9. The method according to claim 5, wherein during lifting of the lifting hook, the controller obtains first displacement data, second displacement data and third displacement data measured by the first displacement sensor, the second displacement sensor and the angle sensor respectively through the CAN bus, calculates lifting speed of the lifting hook according to one of the first displacement data, the second displacement data and the third displacement data, and if the lifting speed of the lifting hook exceeds a set speed threshold, the controller sends a braking instruction to the brake through the CAN bus and a stopping instruction to the oil source motor driver, and meanwhile the controller controls the hydraulic valve to be closed through the IO port to realize emergency stop.
10. The method for controlling a lifting system according to claim 5, wherein the power-on self-test comprises the steps of:
the controller receives the values measured by the first displacement sensor, the second displacement sensor, the third displacement sensor, the first load sensor and the second load sensor through the CAN bus, judges whether the values measured by the first displacement sensor, the second displacement sensor, the third displacement sensor, the first load sensor and the second load sensor are within a preset range threshold value, and if yes, executes the lifting process of the lifting hook by the controller; if not, the sensor corresponding to the abnormal constant value is maintained or replaced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311605113.XA CN117566602A (en) | 2023-11-28 | 2023-11-28 | Lifting system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311605113.XA CN117566602A (en) | 2023-11-28 | 2023-11-28 | Lifting system and control method thereof |
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| CN117566602A true CN117566602A (en) | 2024-02-20 |
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| CN202311605113.XA Pending CN117566602A (en) | 2023-11-28 | 2023-11-28 | Lifting system and control method thereof |
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| CN (1) | CN117566602A (en) |
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