A conveying hanger control device, method and system

Abstract

The present application discloses a conveying sling control device, method and system, the method comprising: the main controller responds to the sling operation trigger instruction, outputs a first enable signal to the communication direction busbar, so as to switch the signal transmission direction in the control signal busbar to be transmitted from the main controller to the sling controller; the main controller sends a sling control instruction carrying sling control parameters for the target sling to the sling controller through the control signal busbar; the sling controller controls the sling to perform corresponding actions based on the sling control parameters; the main controller responds to the sling operation trigger instruction, outputs a second enable signal to the communication direction busbar, so as to switch the signal transmission direction in the control signal busbar to be transmitted from the sling controller to the main controller; the sling controller feeds back the execution result of the sling for the target action to the main controller through the control signal busbar. The present application can realize the transmission of more signals and stable half-duplex communication, and can improve safety.

Description

Technical Field

[0001] The present application relates to the field of logistics transportation technology, and in particular to a transportation sling control device, method and system. Background Art

[0002] Aerial conveyor lines are common equipment in logistics transfer conveyor lines. By installing collectors and busbars on the spreader to draw power during mobile contact, this power-drawing method is a mature technology and has various applications in many occasions. Ring layout is a common conveyor line layout. In order to cover the workshop, the track circumference of this type of conveyor line is generally longer. Usually, a main controller is installed in the ground control cabinet, and the spreader also has an independent spreader controller. The main controller controls the spreader controller through the busbar.

[0003] However, due to the limitations of various factors such as the size of the busbar track, installation requirements and economic indicators, the number of busbars is eight, with 4 busbars transmitting power and the other 4 busbars transmitting signals. Therefore, only simple transmission of 4 signals can be performed. Many necessary instructions of the main controller in the ground control cabinet cannot be transmitted to the hoist controller, and at the same time, many necessary information of the hoist controller cannot be fed back to the main controller in the ground control cabinet. In addition, the half-duplex communication of the existing technology is generally costly due to the need to add other equipment. In addition, the existing technology cannot effectively avoid the risk of accidents caused by abnormal lifting of the hoist and abnormal opening and closing of the clamp due to signal errors, and the safety of the equipment is low. Summary of the invention

[0004] The present application provides a conveyor hoist control device, method and system, which can transmit more signals, achieve stable half-duplex communication while ensuring low cost, and improve the safety of the equipment.

[0005] On the one hand, the present application provides a conveying sling control device, which is applied to a conveying sling device, wherein the conveying sling device comprises a slide rail and a sling slidably connected to the slide rail, and at least one sling station is arranged on the slide rail, characterized in that the conveying sling control device comprises at least one group of signal busbar groups, a main controller and at least one sling controller, and the main controller and the sling controller are communicatively connected through the signal busbar group;

[0006] The signal busbar group is arranged in the hanger station, and an insulating partition is arranged in the middle of a single signal busbar group;

[0007] The hoisting device station includes a first station and a second station. The signal busbar group in the first station includes a communication direction busbar, a safety enable busbar and a control signal busbar. The signal busbar group in the second station includes the communication direction busbar and the control signal busbar.

[0008] Optionally, the communication direction busbar is used to transmit a communication direction switching enable signal sent by the main controller;

[0009] The safety enabling busbar is used to transmit a control signal for a first action at a first station sent by the main controller;

[0010] The control signal busbar is used to transmit the spreader control signal sent by the main controller and the feedback signal sent by the spreader controller.

[0011] Optionally, a first main control switch is provided on the output end line of the main controller, a first controlled switch is provided on the line between the control signal busbar and the input end of the main controller, and a second controlled switch is provided on the line between the control signal busbar and the output end of the main controller;

[0012] The first master control switch is communicatively connected with the first controlled switch and the second controlled switch respectively;

[0013] The signal transmission lines between the first controlled switch and the control signal busbar and between the second controlled switch and the control signal busbar are partially collinear;

[0014] A second main control switch is provided on the line of the output end of the spreader controller, a third controlled switch is provided on the line between the control signal busbar and the input end of the spreader controller, and a fourth controlled switch is provided on the line between the control signal busbar and the output end of the spreader controller;

[0015] The second main control switch is communicatively connected with the third controlled switch and the fourth controlled switch respectively;

[0016] The signal transmission lines between the third controlled switch and the control signal busbar and between the fourth controlled switch and the control signal busbar are partially co-linear.

[0017] On the other hand, the present application provides a conveyor sling control method, which is applied to the above-mentioned conveyor sling control device, comprising:

[0018] The main controller outputs a first enable signal to the communication direction busbar in response to the spreader operation trigger instruction, so as to switch the signal transmission direction in the control signal busbar to be transmitted from the main controller to the spreader controller;

[0019] The main controller sends a spreader control instruction to the spreader controller through the control signal busbar, wherein the spreader control instruction carries a spreader control parameter for a target spreader;

[0020] The spreader controller controls the spreader to perform a corresponding target action based on the spreader control parameter;

[0021] The main controller outputs a second enable signal to the communication direction busbar in response to the spreader operation trigger instruction, so as to switch the signal transmission direction in the control signal busbar to be transmitted from the spreader controller to the main controller;

[0022] The spreader controller feeds back the execution status and result of the spreader for the target action to the main controller through the control signal busbar, and the main controller outputs the first enable signal to the communication direction busbar again.

[0023] Optionally, the first enable signal carries a signal transmission direction parameter, and the outputting of the first enable signal to the communication direction busbar to switch the signal transmission direction in the control signal busbar to be transmitted from the main controller to the spreader controller includes:

[0024] Based on the signal transmission direction parameter, the signal transmission direction between the main controller and the control signal busbar is switched from the main controller to the control signal busbar, and at the same time, the signal transmission direction between the hanger controller and the control signal busbar is switched from the control signal busbar to the hanger controller.

[0025] Optionally, switching the signal transmission direction between the main controller and the control signal busbar to be transmitted from the main controller to the control signal busbar based on the signal transmission direction parameter includes:

[0026] The first main control switch is controlled to switch to a first conducting state based on the signal transmission direction parameter, so that the second controlled switch is in an enabled state and the first controlled switch is in a disabled state.

[0027] Optionally, the switching of the signal transmission direction between the spreader controller and the control signal busbar to transmission from the control signal busbar to the spreader controller includes:

[0028] Based on the signal transmission direction parameter, the spreader controller controls the second main control switch to switch to a third conduction state, so that the third controlled switch is in an enabled state and the fourth controlled switch is in a disabled state.

[0029] Optionally, the conveying hanger control method further includes:

[0030] The main controller sends a first action control signal for a first workstation to the spreader controller through the safety enabling busbar, so that when the spreader moves to the corresponding first workstation, the action corresponding to the first action control signal is performed;

[0031] The spreader controller feeds back the execution result of the action of the spreader corresponding to the first action control signal to the main controller through the control signal busbar.

[0032] Optionally, the conveying hanger control method further includes:

[0033] The spreader controller acquires communication status information and operation status information of the spreader; if at least one of the communication status information and the operation status information of the spreader meets a preset alarm condition, the spreader controller sends a stop operation instruction to the spreader to stop the operation of the spreader;

[0034] The hanger controller feeds back alarm information to the main controller via the control signal busbar.

[0035] On the other hand, the present application provides a conveying spreader control system, which is applied to the above-mentioned conveying spreader control device, including a main controller and a spreader controller:

[0036] The main controller is used to respond to the spreader operation trigger instruction, output a first enable signal to the communication direction busbar, so as to switch the signal transmission direction in the control signal busbar to be transmitted from the main controller to the spreader controller; and send a spreader control instruction to the spreader controller through the control signal busbar, wherein the spreader control instruction carries a spreader control parameter for a target spreader;

[0037] and, in response to a spreader operation trigger instruction, outputting a second enable signal to the communication direction busbar to switch the signal transmission direction in the control signal busbar to be transmitted from the spreader controller to the main controller;

[0038] The spreader controller is used to control the spreader to perform a corresponding target action based on the spreader control parameter;

[0039] And the execution status and result of the hanger for the target action are fed back to the main controller through the control signal busbar, and the main controller outputs the first enable signal to the communication direction busbar again.

[0040] The present application provides a conveying hanger control device, method and system, which have the following beneficial effects:

[0041] 1. By setting an insulating partition in the middle of a single signal busbar group, the number of signal busbars in the signal busbar group is increased to twice the original number, thereby transmitting more signals;

[0042] 2. By setting the main control switch and the controlled switch on the lines between the signal busbar group and the main controller and the spreader controller, stable half-duplex communication between the main controller and the spreader controller can be achieved under the premise of ensuring low cost;

[0043] 3. By setting a safety enabling busbar only in the signal busbar group in the first station, the possibility of dangerous actions occurring in the first station can be reduced from the software and hardware levels, thereby improving the safety of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 This is a schematic diagram of a structure of a hanger and a signal busbar group communicating with each other provided in an embodiment of the present application;

[0046] Figure 2 It is a structural schematic diagram of a signal busbar group provided in an embodiment of the present application;

[0047] Figure 3 It is a structural diagram of a communication connection between a main controller and a signal busbar group provided in an embodiment of the present application;

[0048] Figure 4 It is a structural schematic diagram of a communication connection method between a first master switch and a controlled switch provided in an embodiment of the present application;

[0049] Figure 5 It is a structural diagram of a communication connection between a hanger controller and a signal busbar group provided in an embodiment of the present application;

[0050] Figure 6 It is a structural schematic diagram of a communication connection method between a second main control switch and a controlled switch provided in an embodiment of the present application;

[0051] Figure 7 It is a flow chart of a method for controlling a conveying sling provided in an embodiment of the present application;

[0052] Figure 8 is a flow chart of a method for controlling a conveying hanger for a first action provided in an embodiment of the present application;

[0053] Fig. 9 It is a flowchart of a method provided by an embodiment of the present application for a spreader controller to feed back alarm information to a main controller;

[0054] Fig.10 A conveying hanger control system is provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0056] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of this application.

[0057] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0058] A conveying sling control device provided in an embodiment of the present application is applied to a conveying sling device, the conveying sling device comprising a slide rail and a sling slidably connected to the slide rail, at least one sling station being arranged on the slide rail, the conveying sling control device comprising at least one group of signal busbar groups, a main controller and at least one sling controller, the main controller and the sling controller being communicatively connected via the signal busbar group;

[0059] The signal busbar group is set in the hanger station, and an insulating partition is set in the middle of a single signal busbar group;

[0060] The hoisting station includes a first station and a second station. The signal busbar group in the first station includes a communication direction busbar, a safety enabling busbar and a control signal busbar. The signal busbar group in the second station includes a communication direction busbar and a control signal busbar.

[0061] In the embodiment of the present application, an insulating partition is arranged in the middle of a single signal busbar group, so that the number of signal busbars in the signal busbar group is increased to twice the original amount, thereby transmitting more signals.

[0062] In one embodiment, 20 spreader workstations are arranged on the slide rail, and the conveying spreader control equipment includes 20 groups of signal busbar groups, a main controller and 20 spreader controllers; specifically, the spreader action can be divided into a first action and a second action, the first action can include but is not limited to spreader lifting and clamp opening and closing, the second action can include but is not limited to spreader forward, spreader backward and spreader stop; specifically, the spreader workstation can be divided into a first workstation and a second workstation, the spreader in the first workstation can perform all spreader actions, and the spreader in the second workstation can perform the second action.

[0063] Figure 1 A schematic diagram of a structure of a hanger and a signal busbar group communicating with each other provided in an embodiment of the present application is shown below in combination with Figure 1 A conveying system is introduced, which includes a main controller 100, a signal busbar group 300 arranged in a first station, a hanger controller 200 and a hanger 400.

[0064] Please refer to Figure 1 The signal busbar group 300 is divided into a first signal busbar group and a second signal busbar group by an insulating partition 310. The hanger controller 200 is communicated with the first signal busbar group and the second signal busbar group through a first collector 420 and a second collector 430 respectively; the main controller 100 is communicated with the signal busbar group 300 to realize communication interaction between the hanger controller 200 and the main controller 100.

[0065] As an optional implementation, the transporting hoist control device further includes a power busbar group 500 , and the hoist 400 is communicatively connected with the power busbar group 500 via a third collector 410 to achieve power transmission of the hoist 400 .

[0066] Figure 2 For a structural diagram of a signal busbar group provided in an embodiment of the present application, please refer to Figure 2 As an optional implementation, specifically, the signal busbar group 300 may include 8 signal busbars, specifically including a communication direction busbar 310 , a safety enabling busbar 320 and 6 control signal busbars 330 .

[0067] As an optional embodiment, the communication direction busbar 310 is used to transmit the communication direction switching enable signal sent by the main controller 100; the safety enable busbar 320 is used to transmit the first action control signal for the first workstation sent by the main controller 100; the control signal busbar 330 is used to transmit the hoist control signal sent by the main controller 100 and the feedback signal sent by the hoist controller 200.

[0068] Specifically, since there is no safety enabling busbar in the signal busbar group in the second station, it can be ensured from the hardware that the hoisting device in the second station will not perform the first action, thereby improving the safety of the equipment.

[0069] Specifically, by providing a safety enabling busbar in the first station, the safety of the lifting device in the first station performing the first action can be ensured, further improving the safety of the equipment.

[0070] Figure 3 This is a schematic diagram of a structure of a communication connection between a main controller and a signal busbar group provided in an embodiment of the present application. Figure 3 As an optional implementation, specifically, the hoist controller 200 may include a hoist PLC210, the main controller 100 may include a main control PLC110, and the signal busbar group 300 may include 8 signal busbars. Accordingly, the main control PLC110 and the main control PLC input-output module 111 corresponding to the hoist PLC210 are provided with at least 6 input points and at least 8 output points, wherein the 6 input points provided by the main control PLC input-output module 111 are respectively communicated with the control signal busbar 330, the 6 output points provided by the main control PLC input-output module 111 are respectively communicated with the control signal busbar 330, the 1 output point provided by the main control PLC input-output module 111 is communicated with the communication direction busbar 310, and the 1 output point provided by the main control PLC input-output module 111 is communicated with the safety enabling busbar 320.

[0071] As an optional implementation, a first main control switch 120 is provided on the output end circuit of the main control PLC input / output module 111. Specifically, one end of the first main control switch 120 is communicatively connected to the output end of the main control PLC input / output module 111, and the other end of the first main control switch 120 is connected to the neutral line; a first controlled switch 130 is provided between the control signal busbar 330 and the input end of the main control PLC input / output module 111, and a second controlled switch 140 is provided between the control signal busbar 330 and the output end of the main control PLC input / output module 111, wherein the communication connection lines between the first controlled switch 130 and the control signal busbar 330 and between the second controlled switch 140 and the control signal busbar 330 are partially colinear; preferably, the first main control switch 120 is a first main control relay 120, the first controlled switch 130 is a first controlled relay 130, and the second controlled switch 140 is a second controlled relay 140.

[0072] Figure 4 For a schematic diagram of a communication connection method between a master control relay and a controlled relay provided in an embodiment of the present application, please refer to Figure 4 The first master control relay 120 is communicatively connected with the first controlled relay 130 and the second controlled relay 140 respectively.

[0073] As an optional implementation, the master PLC input-output module 111 outputs a first enable signal to the first master control relay 120, and the first master control relay 120 switches to a first conduction state. Specifically, the first enable signal may include a high level. The master PLC input-output module 111 outputs a second enable signal to the first master control relay 120, and the first master control relay 120 switches to a second conduction state. Specifically, the second enable signal may include a low level.

[0074] As an optional implementation, the master PLC input / output module 111 outputs a first enable signal to the first master control relay 120, and the first master control relay 120 is in a first conduction state, then the first controlled relay 130 is in a non-enabled state, the input end of the master PLC input / output module 111 and the communication line of the control signal busbar 330 are disconnected, and at the same time, the second controlled relay 140 is in an enabled state, the output end of the master PLC input / output module 111 and the communication line of the control signal busbar 330 are connected, and the signal transmission direction between the master PLC input / output module 111 and the control signal busbar 330 is switched from the master PLC input / output module 111 to the control signal busbar 330. 330 transmission; the master PLC input and output module 111 outputs a second enable signal to the first master control relay 120, and the first master control relay 120 is in the second conduction state, then the first controlled relay 130 is in the enabled state, the input end of the master PLC input and output module 111 and the communication line of the control signal busbar 330 are turned on, and at the same time, the second controlled relay 140 is in the non-enabled state, the output end of the master PLC input and output module 111 and the communication line of the control signal busbar 330 are disconnected, and the signal transmission direction between the master PLC input and output module 111 and the control signal busbar 330 is switched to be transmitted from the control signal busbar 330 to the master PLC input and output module 111.

[0075] Figure 5 This is a schematic diagram of a structure of a communication connection between a hanger controller and a signal busbar group provided in an embodiment of the present application. Figure 5 As an optional implementation, specifically, the hoist controller 200 may include a hoist PLC210, and the signal busbar group 300 may include 8 signal busbars. Accordingly, the hoist PLC210 is provided with at least 8 input points and at least 7 output points, wherein the 6 output points provided by the hoist PLC210 are respectively communicated with the control signal busbar 330, and one output point provided by the hoist PLC210 is communicated with the second main control switch 220. The 6 input points provided by the hoist PLC210 are respectively communicated with the control signal busbar 330, and one input point provided by the hoist PLC210 is communicated with the communication direction busbar 310, and one input point provided by the hoist PLC210 is communicated with the safety enabling busbar 320.

[0076] As an optional embodiment, one output point of the hoist PLC210 is communicatively connected to the second main control switch 220. Specifically, one end of the second main control switch 220 is communicatively connected to the output end of the hoist PLC210, and the other end of the second main control switch 220 is connected to the neutral line; a third controlled switch 230 is provided between the control signal busbar 330 and the input end of the hoist PLC210, and a fourth controlled switch 240 is provided between the control signal busbar 330 and the output end of the hoist PLC210, wherein the communication connection lines between the third controlled switch 230 and the control signal busbar 330 and between the fourth controlled switch 240 and the control signal busbar 330 are partially colinear; preferably, the second main control switch 220 is a second main control relay 220, the third controlled switch 230 is a third controlled relay 230, and the fourth controlled switch 240 is a fourth controlled relay 240.

[0077] Figure 6 For a structural diagram of a communication connection method between a second main control switch and a controlled switch provided in an embodiment of the present application, please refer to Figure 6 The second master control relay 220 is communicatively connected with the third controlled relay 230 and the fourth controlled relay 240 respectively.

[0078] As an optional implementation, the main control PLC input-output module 111 outputs a first enable signal to the hoist PLC210 through the communication direction busbar 310, and the hoist PLC210 controls the second main control relay 220 to switch to the third conduction state. Specifically, the first enable signal may include a high level; the main control PLC input-output module 111 outputs a second enable signal to the hoist PLC210 through the communication direction busbar 310, and the hoist PLC210 controls the second main control relay 220 to switch to the fourth conduction state. Specifically, the second enable signal may include a low level.

[0079] As an optional implementation, the main control PLC input-output module 111 outputs a first enabling signal to the hoist PLC210 through the communication direction busbar 310, and the hoist PLC210 controls the second main control relay 220 to switch to the third conducting state, then the fourth controlled relay 240 is in a non-enabled state, the output end of the hoist PLC210 and the communication line of the control signal busbar 330 are disconnected, and at the same time, the third controlled relay 230 is in an enabled state, the input end of the hoist PLC210 and the communication line of the control signal busbar 330 are connected, and the signal transmission direction between the hoist PLC210 and the control signal busbar 330 is switched from the control signal busbar 330 to the hoist PLC 210 transmission; the main control PLC input and output module 111 outputs a second enable signal to the hoist PLC210 through the communication direction busbar 310, and the hoist PLC210 controls the second main control relay 220 to switch to the fourth conduction state, then the third controlled relay 230 is in a non-enabled state, and the input end of the hoist PLC210 and the communication line of the control signal busbar 330 are disconnected. At the same time, the fourth controlled relay 240 is in an enabled state, and the output end of the hoist PLC210 and the communication line of the control signal busbar 330 are turned on, and the signal transmission direction between the hoist PLC210 and the control signal busbar 330 is switched from the hoist PLC210 to the control signal busbar 330.

[0080] In an embodiment of the present application, the main control PLC input and output module 111 outputs a first enable signal to the first main control relay 120 and the communication direction busbar 310, then the signal transmission direction between the main control PLC input and output module 111 and the control signal busbar 330 is from the main control PLC input and output module 111 to the control signal busbar 330, and at the same time, the signal transmission direction between the hoist PLC210 and the control signal busbar 330 is from the control signal busbar 330 to the hoist PLC210, thereby realizing the signal transmission from the main control PLC input and output module 111 to the hoist PLC210.

[0081] In an embodiment of the present application, the main control PLC input and output module 111 outputs a second enable signal to the first main control relay 120 and the communication direction busbar 310, and the signal transmission direction between the main control PLC input and output module 111 and the control signal busbar 330 is from the control signal busbar 330 to the main control PLC input and output module 111; at the same time, the signal transmission direction between the hoist PLC210 and the control signal busbar 330 is from the hoist PLC210 to the control signal busbar 330, thereby realizing the transmission of signals from the hoist PLC210 to the main control PLC input and output module 111.

[0082] In the embodiment of the present application, a master switch and a controlled switch are respectively arranged on the lines between the signal busbar group and the main controller and the spreader controller, thereby achieving stable half-duplex communication between the main controller and the spreader controller while ensuring low cost.

[0083] Table 1 is a hanger control signal transmitted from a main control PLC to a hanger PLC provided in an embodiment of the present application. The hanger control signal transmitted from the main control PLC input / output module 111 to the hanger PLC 210 through the control signal busbar 330 may include fast forward to the next station, slow reverse to the next station, stop lifting and emergency stop; the signal busbar group 300 may include 6 control signal busbars 330, and accordingly, the hanger control signal includes a 6-bit binary number.

[0084] Serial number Code Comments Code 1 Fast forward to the next station 101001 2 Slowly move to the next station 101010 3 Slowly retreat to the previous station 110011 4 Rapid lifting of the spreader 110101 5 Rapid descent of the spreader 110110 6 Slow rise of the spreader 110111 7 Slow descent of the spreader 111010 8 Closing the lifting fixture 111011 9 Spreader Clamp Open 111100 10 Reset Fault 111101 11 Check vehicle number 011100 12 Query current status 011101 13 forward backward stop 100010 14 Lift stop 100011 15 The opening and closing of the lifting fixture stops 100100 16 Emergency Stop 100001

[0085] Table 1

[0086] Table 2 is a feedback signal transmitted from a hoist PLC to a main control PLC provided in an embodiment of the present application. The feedback signal transmitted from the hoist PLC 210 to the main control PLC input / output module 111 through the control signal busbar 330 may include rising, falling, rising to the end, and falling to the end; the signal busbar group 300 may include 6 control signal busbars 330, and accordingly, the feedback signal includes a 6-bit binary number.

[0087]

[0088]

[0089] Table 2

[0090] Specifically, the conveying hanger control device provided in the embodiment of the present application has the following beneficial technical effects:

[0091] 1. By setting an insulating partition in the middle of a single signal busbar group, the number of signal busbars in the signal busbar group is increased to twice the original number, thereby transmitting more signals;

[0092] 2. By setting the main control switch and the controlled switch on the lines between the signal busbar group and the main controller and the spreader controller, stable half-duplex communication between the main controller and the spreader controller can be achieved under the premise of ensuring low cost;

[0093] 3. By setting a safety enabling busbar only in the signal busbar group in the first station, the possibility of dangerous actions occurring in the first station can be reduced from the software and hardware levels, thereby improving the safety of the equipment.

[0094] The communication interaction between the main controller and each spreader controller in the conveying spreader control device is based on the same inventive concept as the above embodiment.

[0095] The following combination Figure 7 A method for controlling a conveying sling provided in an embodiment of the present application is introduced. Figure 7 A flow chart of a conveying sling control method provided in an embodiment of the present application, the conveying sling control method is applied to the conveying sling control device as described above, wherein the conveying sling control device includes at least one group of signal busbars, a main controller and at least one sling controller, and the main controller and the sling controller are communicatively connected via the signal busbars. The conveying sling control device is applied to the conveying sling device, the conveying sling device includes a slide rail and a sling slidably connected to the slide rail, at least one sling station is arranged on the slide rail, the sling station includes a first station and a second station, the signal busbar group in the first station includes a communication direction busbar, a safety enable busbar and a control signal busbar, and the signal busbar group in the second station includes a communication direction busbar and a control signal busbar.

[0096] Please refer to Figure 7 A method for controlling a conveying hanger provided in an embodiment of the present application includes:

[0097] S701. The main controller responds to the spreader operation trigger instruction, outputs a first enable signal to the communication direction busbar to switch the signal transmission direction in the control signal busbar to be transmitted from the main controller to the spreader controller;

[0098] Specifically, the first enable signal carries a signal transmission direction parameter.

[0099] Preferably, the main controller may be a main control PLC, and the spreader controller may be a spreader PLC.

[0100] As an optional implementation, the method for switching the signal transmission direction in the control signal busbar to be transmitted from the main controller to the spreader controller may include:

[0101] Based on the signal transmission direction parameter, the signal transmission direction between the main controller and the control signal busbar is switched from the main controller to the control signal busbar, and at the same time, the signal transmission direction between the spreader controller and the control signal busbar is switched from the control signal busbar to the spreader controller.

[0102] As an optional implementation, a method for switching the signal transmission direction between the main controller and the control signal busbar to transmission from the main controller to the control signal busbar based on the signal transmission direction parameter may include:

[0103] The first main control switch is controlled to switch to a first conducting state based on the signal transmission direction parameter, so that the second controlled switch is in an enabled state and the first controlled switch is in a disabled state.

[0104] Among them, the first main control switch is connected to the output end of the main controller, the first controlled switch is set in the line between the control signal busbar and the input end of the main controller, and the second controlled switch is set in the line between the control signal busbar and the output end of the main controller.

[0105] Specifically, the second controlled switch is in an enabled state to connect the output end of the main controller and the line body of the control signal busbar communication connection; the first controlled switch is in a disabled state to disconnect the input end of the main controller and the line body of the control signal busbar communication connection.

[0106] Preferably, the first main control switch may be a first main control electrical appliance, the first controlled switch may be a first controlled relay, and the second controlled switch may be a second controlled relay.

[0107] As an optional implementation, the method of switching the signal transmission direction between the spreader controller and the control signal busbar to the signal transmission direction from the control signal busbar to the spreader controller may include:

[0108] Based on the signal transmission direction parameter, the spreader controller controls the second main control switch to switch to the third conduction state, so that the third controlled switch is in an enabled state and the fourth controlled switch is in a disabled state.

[0109] Among them, the second main control switch is connected to the output end of the spreader control, the third controlled switch is set in the communication connection line between the control signal busbar and the input end of the spreader controller, and the fourth controlled switch is set in the communication connection line between the control signal busbar and the output end of the spreader controller.

[0110] Specifically, the third controlled switch is in an enabled state to connect the input end of the spreader controller and the line body connected to the control signal busbar; the fourth controlled switch is in a disabled state to disconnect the output end of the spreader controller and the line body connected to the control signal busbar.

[0111] Preferably, the second main control switch may be a second main control electrical appliance, the third controlled switch may be a third controlled relay, and the fourth controlled switch may be a fourth controlled relay.

[0112] S703. The main controller sends a spreader control instruction to the spreader controller through the control signal busbar, and the spreader control instruction carries a spreader control parameter for the target spreader;

[0113] S705. The spreader controller controls the spreader to perform the corresponding target action based on the spreader control parameters;

[0114] S707. The main controller responds to the spreader operation trigger instruction, outputs a second enable signal to the communication direction busbar to switch the signal transmission direction in the control signal busbar to be transmitted from the spreader controller to the main controller;

[0115] Specifically, the second enable signal carries a signal transmission direction parameter.

[0116] As an optional implementation, the method of switching the signal transmission direction in the control signal busbar to be transmitted from the spreader controller to the main controller may include:

[0117] Based on the signal transmission direction parameter, the signal transmission direction between the main controller and the control signal busbar is switched from the control signal busbar to the main controller, and at the same time, the signal transmission direction between the hanger controller and the control signal busbar is switched from the hanger controller to the control signal busbar.

[0118] As an optional implementation, a method for switching the signal transmission direction between the main controller and the control signal busbar to transmission from the control signal busbar to the main controller based on the signal transmission direction parameter may include:

[0119] The first main control switch is controlled to switch to the second conducting state based on the signal transmission direction parameter, so that the second controlled switch is in a non-enabled state and the first controlled switch is in an enabled state.

[0120] Specifically, the second controlled switch is in a non-enabled state to disconnect the line connecting the output end of the main controller and the control signal busbar; the first controlled switch is in an enabled state to connect the input end of the main controller and the control signal busbar.

[0121] As an optional implementation, the method of switching the signal transmission direction between the spreader controller and the control signal busbar to transmission from the spreader controller to the control signal busbar may include:

[0122] Based on the signal transmission direction parameter, the spreader controller controls the second main control switch to switch to the fourth conducting state, so that the third controlled switch is in a non-enabled state and the fourth controlled switch is in an enabled state.

[0123] Specifically, the third controlled switch is in a non-enabled state to disconnect the input end of the spreader controller and the line body connected to the control signal busbar; the fourth controlled switch is in an enabled state to connect the output end of the spreader controller and the line body connected to the control signal busbar.

[0124] S709. The spreader controller feeds back the execution status and result of the spreader for the target action to the main controller through the control signal busbar, and the main controller outputs the first enable signal to the communication direction busbar again.

[0125] In an embodiment of the present application, the spreader controller feeds back the execution status and results of the spreader for the target action to the main controller through the control signal busbar. Before the main controller outputs the first enable signal to the communication direction busbar again, the main controller receives the feedback signal from the spreader controller.

[0126] A conveying hoist control method provided in the present application has the following beneficial effects: by controlling the master switch and the controlled switch respectively arranged on the lines between the signal busbar group and the main controller and the hoist controller, stable half-duplex communication between the main controller and the hoist controller is achieved while ensuring low cost.

[0127] Figure 8 This is a flow chart of a method for controlling a conveying hanger for the first action provided in an embodiment of the present application. Please refer to Figure 8 As an optional implementation, the conveying hanger control method for the first action provided in the embodiment of the present application may also include:

[0128] S801. The main controller sends a first action control signal for the first station to the spreader controller through the safety enabling busbar, so that when the spreader moves to the corresponding first station, the action corresponding to the first action control signal is executed;

[0129] Specifically, the hoist action can be divided into a first action and a second action, wherein the first action can include hoist lifting and clamp opening and closing, and the second action can include hoist forward, hoist backward and hoist stop; specifically, the hoist workstation can be divided into a first workstation and a second workstation, the hoist in the first workstation can perform all hoist actions, and the hoist in the second workstation can perform the second action.

[0130] S803. The spreader controller feeds back the execution result of the spreader's action corresponding to the first action control signal to the main controller through the control signal busbar. Specifically, the method for controlling a conveying spreader for a first action provided in the embodiment of the present application has the following beneficial technical effects: by sending a control signal for the first action of the first station through the safety enabling busbar, the possibility of dangerous actions occurring at the first station can be reduced from the software and hardware levels, thereby improving the safety of the equipment.

[0131] Fig. 9 This is a flow chart of a method provided by an embodiment of the present application for a spreader controller to feed back alarm information to a main controller. Please refer to Fig. 9 As an optional implementation, a method for a spreader controller to feed back alarm information to a main controller provided in an embodiment of the present application includes:

[0132] S901. The spreader controller obtains the communication status information and the spreader operation status information;

[0133] Specifically, the communication status information may include communication status information between the spreader controller and the main controller; the operation status information of the spreader may include status information of the spreader executing a corresponding target action based on the spreader control parameters.

[0134] S903. If at least one of the communication status information and the operation status information of the spreader satisfies the preset alarm condition, the spreader controller sends a stop operation instruction to the spreader to stop the spreader;

[0135] Specifically, the preset alarm conditions may include a communication failure between the spreader controller and the main controller and an emergency situation in the operation state of the spreader.

[0136] S905. The spreader controller feeds back alarm information to the main controller via the control signal busbar.

[0137] Specifically, if the transmission direction between the spreader controller and the main controller is from the spreader controller to the main controller, the spreader controller will feedback alarm information to the main controller through the control signal busbar; if the transmission direction between the spreader controller and the main controller is from the main controller to the spreader controller, then wait for the transmission direction between the spreader controller and the main controller to switch to from the spreader controller to the main controller, and the spreader controller will feedback alarm information to the main controller through the control signal busbar.

[0138] Specifically, the conveying hanger control method provided in the embodiment of the present application has the following beneficial technical effects:

[0139] 1. By controlling the master switch and controlled switch respectively set on the lines between the signal busbar group and the main controller and the spreader controller, stable half-duplex communication between the main controller and the spreader controller can be achieved under the premise of ensuring low cost.

[0140] 2. By sending a control signal for the first action of the first station through the safety enabling busbar, the possibility of dangerous actions occurring at the first station can be reduced from the software and hardware levels, thereby improving the safety of the equipment.

[0141] Fig.10A conveying sling control system provided in an embodiment of the present application is applied to the conveying sling control device as described above, wherein the conveying sling control device includes at least one group of signal busbars, a main controller and at least one sling controller, and the main controller and the sling controller are communicatively connected via the signal busbars. The conveying sling control device is applied to the conveying sling device, and the conveying sling device includes a slide rail and a sling slidably connected to the slide rail, and at least one sling station is arranged on the slide rail, and the sling station includes a first station and a second station, and the signal busbar group in the first station includes a communication direction busbar, a safety enabling busbar and a control signal busbar, and the signal busbar group in the second station includes a communication direction busbar and a control signal busbar. Please refer to Fig.10 , a conveying spreader control system provided in an embodiment of the present application includes a main controller and a spreader controller connected in communication:

[0142] The main controller is used to respond to the spreader operation trigger instruction, output a first enable signal to the communication direction busbar, so as to switch the signal transmission direction in the control signal busbar to be transmitted from the main controller to the spreader controller; and send a spreader control instruction to the spreader controller through the control signal busbar, the spreader control instruction carrying a spreader control parameter for the target spreader; and, in response to the spreader operation trigger instruction, output a second enable signal to the communication direction busbar, so as to switch the signal transmission direction in the control signal busbar to be transmitted from the spreader controller to the main controller;

[0143] Specifically, the first enable signal carries a signal transmission direction parameter, and the second enable signal carries a signal transmission direction parameter different from the first enable signal. The spreader controller is used to control the spreader to perform a corresponding target action based on the spreader control parameter; and to feed back the execution result of the spreader for the target action to the main controller through the control signal busbar.

[0144] A conveying hanger control system embodiment provided in the embodiment of the present application and a conveying hanger control method embodiment provided in the embodiment of the present application are based on the same inventive concept.

[0145] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of this specification are described. Other embodiments are within the scope of the attached claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0146] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0147] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0148] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A conveying sling control device, applied to a conveying sling device, the conveying sling device comprising a slide rail and a sling slidably connected to the slide rail, at least one sling station being arranged on the slide rail, characterized in that: The conveying spreader control device comprises at least one group of signal busbars, a main controller and at least one spreader controller, wherein the main controller and the spreader controller are communicatively connected via the signal busbars; The signal busbar group is arranged in the hanger station, and an insulating partition is arranged in the middle of a single signal busbar group; The hoisting device station includes a first station and a second station, the signal busbar group in the first station includes a communication direction busbar, a safety enabling busbar and a control signal busbar, and the signal busbar group in the second station includes the communication direction busbar and the control signal busbar; A first main control switch is provided on the output end line of the main controller, a first controlled switch is provided on the line between the control signal busbar and the input end of the main controller, and a second controlled switch is provided on the line between the control signal busbar and the output end of the main controller; the first main control switch is communicatively connected with the first controlled switch and the second controlled switch respectively; The signal transmission lines between the first controlled switch and the control signal busbar and between the second controlled switch and the control signal busbar are partially collinear; A second main control switch is provided on the line of the output end of the spreader controller, a third controlled switch is provided on the line between the control signal busbar and the input end of the spreader controller, and a fourth controlled switch is provided on the line between the control signal busbar and the output end of the spreader controller; The second main control switch is communicatively connected with the third controlled switch and the fourth controlled switch respectively; The signal transmission lines between the third controlled switch and the control signal busbar and between the fourth controlled switch and the control signal busbar are partially co-linear.

2. The conveying hanger control device according to claim 1, characterized in that: The communication direction busbar is used to transmit the communication direction switching enable signal sent by the main controller; The safety enabling busbar is used to transmit a control signal for a first action at a first station sent by the main controller; The control signal busbar is used to transmit the spreader control signal sent by the main controller and the feedback signal sent by the spreader controller.

3. A method for controlling a conveying spreader, applied to the conveying spreader control device according to any one of claims 1 to 2, characterized in that: include: The main controller outputs a first enable signal to the communication direction busbar in response to the spreader operation trigger instruction, so as to switch the signal transmission direction in the control signal busbar to be transmitted from the main controller to the spreader controller; The main controller sends a spreader control instruction to the spreader controller through the control signal busbar, wherein the spreader control instruction carries a spreader control parameter for a target spreader; The spreader controller controls the spreader to perform a corresponding target action based on the spreader control parameter; The main controller outputs a second enable signal to the communication direction busbar in response to the spreader operation trigger instruction, so as to switch the signal transmission direction in the control signal busbar to be transmitted from the spreader controller to the main controller; The spreader controller feeds back the execution status and result of the spreader for the target action to the main controller through the control signal busbar, and the main controller outputs the first enable signal to the communication direction busbar again.

4. The method for controlling a conveying sling according to claim 3, characterized in that: The first enable signal carries a signal transmission direction parameter, and the first enable signal is output to the communication direction busbar to switch the signal transmission direction in the control signal busbar to be transmitted from the main controller to the spreader controller, including: Based on the signal transmission direction parameter, the signal transmission direction between the main controller and the control signal busbar is switched from the main controller to the control signal busbar, and at the same time, the signal transmission direction between the hanger controller and the control signal busbar is switched from the control signal busbar to the hanger controller.

5. The method for controlling a conveying sling according to claim 4, characterized in that: The switching of the signal transmission direction between the main controller and the control signal busbar to transmission from the main controller to the control signal busbar based on the signal transmission direction parameter comprises: The first main control switch is controlled to switch to a first conducting state based on the signal transmission direction parameter, so that the second controlled switch is in an enabled state and the first controlled switch is in a disabled state.

6. The method for controlling a conveying sling according to claim 4, characterized in that: The step of switching the signal transmission direction between the spreader controller and the control signal busbar to be transmitted from the control signal busbar to the spreader controller comprises: Based on the signal transmission direction parameter, the spreader controller controls the second main control switch to switch to a third conduction state, so that the third controlled switch is in an enabled state and the fourth controlled switch is in a disabled state.

7. The method for controlling a conveying sling according to claim 3, characterized in that: Also includes: The main controller sends a first action control signal for a first workstation to the spreader controller through the safety enabling busbar, so that when the spreader moves to the corresponding first workstation, the action corresponding to the first action control signal is performed; The spreader controller feeds back the execution result of the action of the spreader corresponding to the first action control signal to the main controller through the control signal busbar.

8. The method for controlling a conveying sling according to claim 3, characterized in that: Also includes: The spreader controller acquires communication status information and operation status information of the spreader; If at least one of the communication status information and the operation status information of the spreader meets a preset alarm condition, the spreader controller sends a stop operation instruction to the spreader to stop the operation of the spreader; The hanger controller feeds back alarm information to the main controller via the control signal busbar.

9. A conveyor sling control system, applied to the conveyor sling control device according to any one of claims 1 to 2, characterized in that: Including main controller and spreader controller: The main controller is used to respond to the spreader operation trigger instruction, output a first enable signal to the communication direction busbar, so as to switch the signal transmission direction in the control signal busbar to be transmitted from the main controller to the spreader controller; and send a spreader control instruction to the spreader controller through the control signal busbar, wherein the spreader control instruction carries a spreader control parameter for a target spreader; and, in response to the spreader operation trigger instruction, output a second enable signal to the communication direction busbar, so as to switch the signal transmission direction in the control signal busbar to be transmitted from the spreader controller to the main controller; the spreader controller is used to control the spreader to perform a corresponding target action based on the spreader control parameter; and feed back the spreader control parameter to the main controller through the control signal busbar. The execution status and result of the target action are transmitted to the main controller, and the first enabling signal is output again to the busbar in the communication direction.

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