Hook drop control method, device, hoisting equipment and crane

Abstract

The present invention relates to the field of engineering machinery and provides a hook drop control method, device, hoisting equipment, and crane. The method comprises: obtaining a brake signal input by a brake component; determining the current working range of the brake component based on the brake signal; wherein the brake component includes multiple working ranges, and the multiple working ranges are obtained by dividing the working stroke of the brake component; determining a control signal corresponding to the brake signal based on the current working range of the brake component, and sending the control signal to a brake control component; wherein the brake control component is used to control the hook drop braking force according to the control signal. The present invention can improve the softness of the hook drop speed change during the free hook drop process, thereby reducing the impact force caused by the hook drop speed change on the hoisting equipment and improving the user experience during the use of the hoisting equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a hook drop control method, device, hoisting equipment and crane. Background Art

[0002] Hoisting equipment is widely used in construction, manufacturing, ports and terminals, etc. As the application scope of hoisting equipment expands, the requirements for hoisting equipment operation efficiency are getting higher and higher. Loaded free-fall hooks have become an indispensable function of hoisting equipment.

[0003] Traditional hook drop control methods usually consider the stability of the hook drop speed during the free hook drop process, but cannot ensure the softness of the change (increase or decrease) of the hook drop speed during the free hook drop process according to actual needs. Summary of the Invention

[0004] In view of the problems existing in the prior art, the present invention provides a hook drop control method, device, hoisting equipment and crane.

[0005] The present invention provides a hook drop control method, comprising:

[0006] Obtaining a brake signal input by a brake component;

[0007] Determining a current working range of the brake component based on the brake signal; wherein the brake component includes a plurality of working ranges, and the plurality of working ranges are obtained by dividing the working stroke of the brake component;

[0008] A control signal corresponding to the brake signal is determined based on the current working range of the brake component, and the control signal is sent to a brake control component; wherein the brake control component is used to control the hook braking force according to the control signal.

[0009] According to the hook drop control method provided by the present invention, the determining of the control signal corresponding to the brake signal based on the current working range of the brake component includes:

[0010] Based on the correspondence between the current working range of the brake component and the control signal, the control signal corresponding to the brake signal is determined; wherein the correspondence between each working range and the control signal is determined based on the upper limit value and / or lower limit value of the hook braking force.

[0011] According to the hook drop control method provided by the present invention, the brake component includes at least three working intervals, namely a first working interval, a second working interval and a third working interval; the first working interval, the second working interval and the third working interval are arranged in sequence from the starting point to the end point of the working stroke;

[0012] The control signal corresponding to the end point of the first working interval is determined based on the hook-dropping working condition and the lower limit value of the hook-dropping braking force;

[0013] The control signal corresponding to the starting point of the third working interval is determined based on the upper limit value of the hook-dropping braking force;

[0014] The control signal corresponding to the second working interval changes linearly within a preset range.

[0015] According to the hook drop control method provided by the present invention, the control signal corresponding to the end point of the first working interval is determined based on the following method:

[0016] When the hook drop working condition is a non-free hook drop working condition, determining the control signal corresponding to the end point of the first working interval based on the rated minimum value of the control signal;

[0017] When the hook-dropping working condition is a free hook-dropping working condition, the control signal corresponding to the end point of the first working interval is determined based on the lower limit value of the hook-dropping braking force.

[0018] According to the hook drop control method provided by the present invention, the process of controlling the hook drop braking force according to the control signal further includes:

[0019] The control signal is corrected based on the calibration value of the hook-drop braking force corresponding to the control signal and the detected value of the hook-drop braking force.

[0020] The present invention also provides a hook drop control device, comprising:

[0021] A data acquisition module is used to acquire a brake signal input by a brake component;

[0022] a first calculation module, configured to determine a current working range of the brake component based on the brake signal; wherein the brake component includes a plurality of working ranges, and the plurality of working ranges are obtained by dividing the working stroke of the brake component;

[0023] The second calculation module is used to determine the control signal corresponding to the brake signal based on the current working range of the brake component, and send the control signal to the brake control component; wherein, the brake control component is used to control the hook braking force according to the control signal.

[0024] The present invention also provides a hoisting device, comprising: a brake component, a brake control assembly, and a control device;

[0025] The brake component is used to input a brake signal;

[0026] The control device is used to determine the current working range of the brake component based on the brake signal; wherein the brake component includes a plurality of working ranges, and the plurality of working ranges are obtained by dividing the working stroke of the brake component; and is further used to determine a control signal corresponding to the brake signal based on the current working range of the brake component, and send the control signal to the brake control component;

[0027] The brake control component is used to control the hook braking force of the hoisting equipment according to the control signal.

[0028] The present invention also provides a crane, comprising: the hoisting equipment as described above.

[0029] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the hook drop control method as described above is implemented.

[0030] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which implements any of the above-described hook drop control methods when executed by a processor.

[0031] The hook drop control method, device, lifting equipment and crane provided by the present invention obtain the brake signal input by the brake component, determine the current working range of the brake component based on the brake signal, and determine the control signal corresponding to the brake signal based on the current working range of the brake component, and send the control signal to the brake control component to control the hook drop braking force through the brake control component. The softness of the hook drop speed change can be effectively ensured, thereby reducing the impact force of the hook drop speed change on the lifting equipment during the free hook drop process, and improving the user experience during the use of the lifting equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 It is a flow chart of the hook drop control method provided by the present invention;

[0034] Figure 2 It is a distribution diagram of the working interval provided by the present invention;

[0035] Figure 3 It is a schematic diagram of the working principle of correcting the control signal provided by the present invention;

[0036] Figure 4 It is a structural schematic diagram of the hook drop control device provided by the present invention;

[0037] Figure 5 It is a structural schematic diagram of the lifting equipment provided by the present invention;

[0038] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0040] The following combination Figure 1-Figure 3 The hook drop control method of the present invention is described. The hook drop control method of the present invention is executed by an electronic device such as a controller or the hardware and / or software therein. Figure 1 As shown, the hook drop control method of the present invention includes:

[0041] S101: Acquire a brake signal input by a brake component of a lifting device.

[0042] Specifically, hoisting equipment, such as equipment that uses a hoisting assembly for lifting and hook drop, can include a wire rope sequentially wound around a drum. One end of the wire rope is fixed to one end of the drum, and the other end is a free end connected to the hook. The drum retracts and releases the wire rope to achieve lifting and hook drop. The hoisting equipment's brake component can be a brake pedal, for example, for the operator to input a brake signal. The brake signal can be, for example, the depth of the operator's application of the brake pedal.

[0043] S102 . Determine a current working range of the brake component based on the brake signal; wherein the brake component includes a plurality of working ranges, and the plurality of working ranges are obtained by dividing the working stroke of the brake component.

[0044] Specifically, the working stroke of the brake component can be divided into multiple working intervals, and the number of working intervals and the length of each working interval can be set according to actual needs. For example, the working stroke of the brake component can be divided into three working intervals, such as Figure 2 As shown, 0% to 5% of the working stroke of the brake component is the first working range, 5% to 95% of the working stroke is the second working range, and 95% to 100% of the working stroke is the third working range. Figure 2 In the figure, the range between the two solid lines is the working stroke of the brake component.

[0045] The current working range of the brake component, that is, the working range of the brake component at the current moment, can be obtained by, for example, matching the brake signal with the range of each working range.

[0046] S103. Determine a control signal corresponding to the brake signal based on the current working range of the brake component, and send the control signal to the brake control component of the hoisting equipment; wherein the brake control component is used to control the hook braking force of the hoisting equipment according to the control signal.

[0047] Specifically, the brake control assembly can be a proportional solenoid valve, which is directly or indirectly connected to the brake assembly. The brake assembly can include a friction plate. The friction plate can be a friction plate disposed within a wet clutch within the reel, and the wet clutch can be a multi-plate wet clutch. The proportional solenoid valve changes the pressure exerted by the friction plate on the reel by controlling the amount of oil entering the friction plate from the oil source. This pressure is then converted into the hook-dropping braking force of the hoisting device. The specific type of control signal corresponding to the brake signal can be determined based on the specific type of brake control assembly of the hoisting device. For example, if the brake control assembly is a proportional solenoid valve, the control signal can be a current signal. The current signal is changed based on the brake signal, and the opening of the proportional solenoid valve is then changed based on the current signal to adjust the amount of oil entering the friction plate, thereby changing the hook-dropping braking force of the hoisting device to achieve control of the hook-dropping speed.

[0048] Among them, the change range of the control signal corresponding to different working intervals and the change trend of the control signal with the brake signal can be different, which can be set according to actual needs. For example, it can be set according to the hook braking force requirements of different working intervals.

[0049] The specific method of determining the control signal corresponding to the brake signal based on the current working range of the brake component can be set according to actual needs. For example, the control signal corresponding to the brake signal can be determined according to the change range of the control signal corresponding to the current working range of the brake component and the change trend of the control signal with the brake signal. Therefore, when the brake component is in different working ranges, the hook braking force can be controlled to change at different rates within different ranges, thereby ensuring the softness of the change in hook speed, reducing the impact of the hook speed change on the lifting equipment during free hook falling, and improving the user experience during the use of the lifting equipment.

[0050] Traditional hook drop control methods typically consider the stability of the hook drop speed during free drop, for example, controlling the constant speed of the hook drop on the hoisting equipment. However, with the development of the times, higher requirements have been placed on the hook drop speed, for example, the hook drop speed needs to be adjusted according to actual needs. Traditional hook drop control methods cannot ensure the smooth change of the hook drop speed when the hook drop speed changes. In other words, a sudden drop or abrupt stop of the drop will cause a significant impact on the hoisting equipment and cannot guarantee the user experience during the use of the hoisting equipment.

[0051] The embodiment of the present invention obtains the brake signal input by the brake component of the lifting equipment, determines the current working range of the brake component based on the brake signal, and determines the control signal corresponding to the brake signal based on the current working range of the brake component, and sends the control signal to the brake control component of the lifting equipment to control the hook braking force of the lifting equipment through the brake control component, which can effectively ensure the softness of the change of the hook speed, thereby reducing the impact force of the hook speed change on the lifting equipment during the free hook drop process, and improving the user experience during the use of the lifting equipment.

[0052] Based on the above embodiment, determining the control signal corresponding to the brake signal based on the current working range of the brake component includes:

[0053] Based on the correspondence between the current working range of the brake component and the control signal, the control signal corresponding to the brake signal is determined; wherein the correspondence between each working range and the control signal is determined based on the upper limit value and / or lower limit value of the hook braking force.

[0054] Specifically, the correspondence between each operating range and the control signal is determined based on the upper and / or lower limits of the hook-drop braking force. That is, the correspondence between each operating range and the control signal is determined based on the control signal corresponding to the upper limit of the hook-drop braking force and / or the control signal corresponding to the lower limit of the hook-drop braking force. When hoisting different loads, a corresponding relationship can be determined for each load, so that the corresponding relationship can be selected during application to determine the control signal based on the load.

[0055] The upper and lower limits of the hook-dropping braking force can be set based on the hook-dropping speed. For example, the lower limit of the hook-dropping braking force can be the hook-dropping braking force when the hook is freely dropping without getting stuck when the corresponding load is being hoisted; the upper limit of the hook-dropping braking force can be the hook-dropping braking force when the hook is freely dropping without getting stuck when the corresponding load is being hoisted, and the upper limit of the hook-dropping braking force can be set when the hook is freely dropping and the impact force generated by the brake is less than or equal to the preset impact force when the corresponding load is being hoisted. The magnitude of the control signal can be gradually adjusted when hoisting different loads, and the rotation speed of the drum in the hoisting assembly and the pressure of the friction plate on the drum can be monitored in real time. The pressure of the friction plate on the drum during normal drum rotation (i.e., normal hook dropping) can be calibrated as the lower limit of the hook-dropping braking force, and the control signal at this time can be calibrated as the control signal corresponding to the lower limit of the hook-dropping braking force; the pressure of the friction plate on the drum during stopped drum rotation (i.e., stopped hook dropping) can be calibrated as the upper limit of the hook-dropping braking force, and the control signal at this time can be calibrated as the control signal corresponding to the upper limit of the hook-dropping braking force. In this way, the upper and lower limits of the hook-dropping braking force can be obtained for different hoisting loads, as well as the control signals corresponding to the upper and lower limits of the hook-dropping braking force.

[0056] After determining the control signal corresponding to the upper limit of the hook-drop braking force and the control signal corresponding to the lower limit of the hook-drop braking force, the control signal corresponding to each operating range is further determined based on the control signal corresponding to the upper limit of the hook-drop braking force and the control signal corresponding to the lower limit of the hook-drop braking force. In other words, the range of the control signal corresponding to each operating range and the trend of the control signal's change with the braking signal are determined. Taking three operating ranges as an example, the range of the control signal corresponding to the first operating range can be from the rated minimum value of the control signal to the control signal corresponding to the lower limit of the hook-drop braking force; the range of the control signal corresponding to the third operating range can be from the control signal corresponding to the upper limit of the hook-drop braking force to the rated maximum value of the control signal; and the range of the control signal corresponding to the second operating range can be from the control signal corresponding to the lower limit of the hook-drop braking force to the control signal corresponding to the upper limit of the hook-drop braking force. After determining the range of the control signal in each operating range, the length of each operating range and the trend of the control signal's change with the braking signal in each operating range are further determined. For example, the change can be linear, step-like, or curved. The length of each working interval and the changing trend of the control signal with the brake signal in each working interval can be determined according to the hook drop speed control requirements and the degree of influence of the hook drop speed change on the lifting equipment.

[0057] The embodiment of the present invention determines the correspondence between each working interval and the control signal based on the upper limit value and / or lower limit value of the hook-dropping braking force, and determines the control signal corresponding to the braking signal based on the correspondence between the current working interval of the braking component and the control signal. It can ensure the softness of the hook-dropping speed change while meeting the hook-dropping speed requirements, thereby reducing the impact of the speed change on the lifting equipment and improving the user experience during the use of the lifting equipment.

[0058] At the same time, the embodiment of the present invention can adjust the upper and lower limits of the hook braking force according to the hook braking force requirements, so that the pressure range of the brake components can be flexibly controlled according to the critical pressure point of the brake, thereby meeting the operating habits of the operator and further improving the experience during the use of the lifting equipment.

[0059] Based on any of the above embodiments, the brake component includes at least three working intervals, namely a first working interval, a second working interval and a third working interval; the first working interval, the second working interval and the third working interval are arranged in sequence from the starting point to the end point of the working stroke;

[0060] The control signal corresponding to the end point of the first working interval is determined based on the hook-dropping working condition of the hoisting equipment and the lower limit value of the hook-dropping braking force;

[0061] The control signal corresponding to the starting point of the third working interval is determined based on the upper limit value of the hook-dropping braking force;

[0062] The control signal corresponding to the second working interval changes linearly within a preset range.

[0063] Specifically, the brake component includes at least three operating ranges, namely, a first operating range, a second operating range, and a third operating range, which are sequentially arranged from the starting point to the end point of the brake component's operating range. It will be understood that the three operating ranges constitute the entire operating range of the brake component. When the number of operating ranges exceeds three, one or more of the first, second, and third operating ranges may be further divided.

[0064] The control signal corresponding to the starting point of the first operating interval can be the rated minimum value of the control signal, for example, zero. The control signal corresponding to the end point of the first operating interval is determined based on the hook drop operating condition of the hoisting equipment and the lower limit of the hook drop braking force. In other words, the first operating interval is a dead zone. The hook drop operating condition of the hoisting equipment can include free drop conditions and non-free drop conditions. For example, the non-free drop condition can include an ascending condition or a power priority condition. The specific method of determining the control signal corresponding to the end point of the first working interval based on the hook-dropping condition of the lifting equipment and the lower limit value of the hook-dropping braking force can be set according to actual needs. For example, under the free hook-dropping condition, the control signal corresponding to the end point of the first working interval can be determined based on the control signal corresponding to the lower limit value of the hook-dropping braking force; under the non-free hook-dropping condition, the control signal corresponding to the end point of the first working interval can be determined based on the rated minimum value or other preset value of the control signal; it is also possible to process the control signal corresponding to the lower limit value of the hook-dropping braking force based on different weights or error terms in the free hook-dropping condition and the non-free hook-dropping condition, and use the corresponding processing results as the control signal corresponding to the end point of the first working interval in the free hook-dropping condition and the non-free hook-dropping condition.

[0065] As an optional implementation, in non-free-drop conditions, the control signals corresponding to the start and end points of the first operating interval can both be set to zero. Existing methods typically install a logic switch solenoid valve between the proportional solenoid valve and the friction plate to isolate the hook-drop braking force in non-free-drop conditions. However, in this embodiment, the control signals corresponding to both the start and end points of the first operating interval are set to zero, eliminating the need for additional logic switch solenoid valves and simplifying their control process.

[0066] The control signal corresponding to the end point of the third working range can be the rated maximum value of the control signal, for example, 600 mA. The control signal corresponding to the starting point of the third working range is determined based on the upper limit of the hook drop braking force. In other words, the third working range is a braking zone, which can effectively avoid significant impact on the lifting equipment during the braking process. In addition, under different loads or unexpected situations, instant braking can be achieved at the end point of the third working range, ensuring the required braking force.

[0067] The starting point of the second working interval corresponds to the end point of the first working interval, and the end point of the second working interval corresponds to the starting point of the third working interval. The control signal corresponding to the second working interval can change linearly within the range determined by the starting point and end point of the second working interval, that is, the second working interval is a speed regulation area, thereby ensuring the softness of speed change during the free hook drop process.

[0068] It can be seen that the embodiment of the present invention divides the working stroke of the brake component into at least three working intervals, and the three working intervals are arranged in sequence from the starting point to the end point of the working stroke of the brake component. The control signal corresponding to the end point of the first working interval is determined based on the hook-dropping condition of the lifting equipment and the lower limit value of the hook-dropping braking force. The control signal corresponding to the starting point of the third working interval is determined based on the upper limit value of the hook-dropping braking force. The control signal corresponding to the second working interval changes linearly within a preset range, and can be zoned according to different hook-dropping control requirements, thereby ensuring the effectiveness of the hook-dropping control process and the softness of the hook-dropping speed change.

[0069] Based on any of the above embodiments, the control signal corresponding to the end point of the first working interval is determined based on the following method:

[0070] When the hook-dropping working condition of the hoisting equipment is a non-free hook-dropping working condition, determining the control signal corresponding to the end point of the first working interval based on the rated minimum value of the control signal;

[0071] When the hook-dropping working condition of the hoisting equipment is a free hook-dropping working condition, the control signal corresponding to the end point of the first working interval is determined based on the lower limit value of the hook-dropping braking force.

[0072] Specifically, when determining the control signal corresponding to the end point of the first working interval, the hook-dropping condition of the lifting equipment is first determined. If the hook-dropping condition of the lifting equipment is a free hook-dropping condition, it means that the brake component is required to control the hook-dropping speed. The control signal corresponding to the end point of the first working interval can be determined based on the lower limit value of the hook-dropping braking force, thereby effectively avoiding the standby braking force of the free hook-dropping condition being too high; when the hook-dropping condition of the lifting equipment is a non-free hook-dropping condition, it means that the brake component is not required to control the hook-dropping speed. The control signal corresponding to the end point of the first working interval can be determined based on the rated minimum value of the control signal. For example, the rated minimum value can be zero, thereby effectively avoiding the impact of accidental contact with the brake component on the working process of the lifting equipment under the non-free hook-dropping condition.

[0073] It can be seen that in the embodiment of the present invention, when the hook-dropping condition of the lifting equipment is a non-free hook-dropping condition, the control signal corresponding to the end point of the first working interval is determined based on the rated minimum value of the control signal; when the hook-dropping condition of the lifting equipment is a free hook-dropping condition, the control signal corresponding to the end point of the first working interval is determined based on the lower limit value of the hook-dropping braking force. This can effectively avoid the impact of accidental touching of the brake components on the working process of the lifting equipment, and reduce the standby braking force under the free hook-dropping condition, thereby ensuring the effectiveness of the free hook-dropping control and the softness of the hook-dropping speed change.

[0074] Based on any of the above embodiments, the process of controlling the hook braking force of the hoisting equipment according to the control signal further includes:

[0075] The control signal is corrected based on the calibration value of the hook-drop braking force corresponding to the control signal and the detected value of the hook-drop braking force.

[0076] Specifically, in the process of controlling the hook braking force of the lifting equipment according to the control signal, the control signal can also be corrected based on the calibration value of the hook braking force corresponding to the control signal and the detection value of the hook braking force, and the hook braking force of the lifting equipment can be controlled based on the corrected control signal.

[0077] The calibration value of the hook-drop braking force corresponding to the control signal can be determined based on the upper and lower limits of the hook-drop braking force and the changing trend of the hook-drop braking force in each operating range. The changing trend of the hook-drop braking force can be determined based on the changing trend of the control signal relative to the braking signal. The detection value of the hook-drop braking force, i.e., the actual measured value of the hook-drop braking force, can be obtained by using a pressure sensor to detect the pressure of the friction plate on the reel in real time under the influence of the control signal to obtain the detection value of the hook-drop braking force corresponding to the control signal.

[0078] The specific method of correcting the control signal based on the calibration value of the hook-drop braking force corresponding to the control signal and the detection value of the hook-drop braking force can be set according to actual needs. For example, the control signal can be corrected according to the difference between the calibration value of the hook-drop braking force corresponding to the control signal and the detection value of the hook-drop braking force to obtain a corrected control signal, and the corrected control signal is sent to the brake control component to control the hook-drop braking force of the hoisting equipment. Among them, in the process of correcting the control signal according to the calibration value of the hook-drop braking force corresponding to the control signal and the detection value of the hook-drop braking force, a PID (Proportional-Integral-Differential) adjustment method can be used. The specific adjustment process is as follows: Figure 3 shown.

[0079] The embodiment of the present invention corrects the control signal based on the calibration value of the hook braking force corresponding to the control signal and the detection value of the hook braking force, so as to control the hook braking force of the lifting equipment based on the corrected control signal, so that the hook braking force can better follow the changes of the control signal, compensate for the static hysteresis of the brake control component and improve the dynamic response of the brake control component, thereby effectively avoiding the influence of various factors such as the environment and equipment on the hook braking force, and ensuring the effectiveness of the hook control.

[0080] The hook drop control device provided by the present invention is described below. The hook drop control device described below and the hook drop control method described above can be referred to in correspondence with each other. Figure 4 As shown, the hook drop control device of the present invention includes:

[0081] The data acquisition module 401 is used to acquire a brake signal input by a brake component of the lifting equipment;

[0082] A first calculation module 402 is configured to determine a current working range of the brake component based on the brake signal; wherein the brake component includes a plurality of working ranges, and the plurality of working ranges are obtained by dividing the working range of the brake component;

[0083] The second calculation module 403 is used to determine the control signal corresponding to the brake signal based on the current working range of the brake component, and send the control signal to the brake control component of the lifting equipment; wherein, the brake control component is used to control the hook braking force of the lifting equipment according to the control signal.

[0084] Based on the above embodiment, the second calculation module 403 is specifically configured to:

[0085] Based on the correspondence between the current working range of the brake component and the control signal, the control signal corresponding to the brake signal is determined; wherein the correspondence between each working range and the control signal is determined based on the upper limit value and / or lower limit value of the hook braking force.

[0086] Based on any of the above embodiments, the brake component includes at least three working intervals, namely a first working interval, a second working interval and a third working interval; the first working interval, the second working interval and the third working interval are arranged in sequence from the starting point to the end point of the working stroke;

[0087] The control signal corresponding to the end point of the first working interval is determined based on the hook-dropping working condition of the hoisting equipment and the lower limit value of the hook-dropping braking force;

[0088] The control signal corresponding to the starting point of the third working interval is determined based on the upper limit value of the hook-dropping braking force;

[0089] The control signal corresponding to the second working interval changes linearly within a preset range.

[0090] Based on any of the above embodiments, the present invention further includes a third calculation module, wherein the third calculation module is configured to:

[0091] When the hook-dropping working condition of the hoisting equipment is a non-free hook-dropping working condition, determining the control signal corresponding to the end point of the first working interval based on the rated minimum value of the control signal;

[0092] When the hook-dropping working condition of the hoisting equipment is a free hook-dropping working condition, the control signal corresponding to the end point of the first working interval is determined based on the lower limit value of the hook-dropping braking force.

[0093] Based on any of the above embodiments, the further comprising: a regulating module, wherein the regulating module is configured to:

[0094] The control signal is corrected based on the calibration value of the hook-drop braking force corresponding to the control signal and the detected value of the hook-drop braking force.

[0095] Based on any of the above embodiments, the present invention further provides a lifting device, such as Figure 5 As shown, it includes: a brake component 501, a brake control component 502 and a control device 503;

[0096] The brake component 501 is used to input a brake signal;

[0097] The control device 503 is used to determine the current working range of the brake component 501 based on the brake signal; wherein the brake component 501 includes a plurality of working ranges, and the plurality of working ranges are obtained by dividing the working range of the brake component 501; and is further used to determine a control signal corresponding to the brake signal based on the current working range of the brake component 501, and send the control signal to the brake control component 502 of the hoisting equipment;

[0098] The brake control component 502 is used to control the hook braking force of the hoisting equipment according to the control signal.

[0099] Based on any of the above embodiments, an embodiment of the present invention further provides a crane, comprising the lifting equipment described in the above embodiments.

[0100] Specifically, cranes such as crawler cranes, wheel cranes, and the like.

[0101] Figure 6 An example of a physical structure diagram of an electronic device is shown below. Figure 6 As shown, the electronic device may include: a processor 601, a communication interface 602, a memory 603, and a communication bus 604, wherein the processor 601, the communication interface 602, and the memory 603 communicate with each other via the communication bus 604. The processor 601 may call the logic instructions in the memory 603 to execute the hook drop control method, which includes: obtaining a brake signal input by a brake component of the hoisting device;

[0102] Determining a current working range of the brake component based on the brake signal; wherein the brake component includes a plurality of working ranges, and the plurality of working ranges are obtained by dividing the working stroke of the brake component;

[0103] The control signal corresponding to the brake signal is determined based on the current working range of the brake component, and the control signal is sent to the brake control component of the hoisting equipment; wherein, the brake control component is used to control the hook braking force of the hoisting equipment according to the control signal.

[0104] In addition, the logic instructions in the above-mentioned memory 603 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0105] On the other hand, the present invention further provides a computer program product, the computer program product including a computer program, the computer program being storable on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer is capable of executing the hook drop control method provided by the above methods, the method including: obtaining a brake signal input by a brake component of a lifting device;

[0106] Determining a current working range of the brake component based on the brake signal; wherein the brake component includes a plurality of working ranges, and the plurality of working ranges are obtained by dividing the working stroke of the brake component;

[0107] The control signal corresponding to the brake signal is determined based on the current working range of the brake component, and the control signal is sent to the brake control component of the hoisting equipment; wherein, the brake control component is used to control the hook braking force of the hoisting equipment according to the control signal.

[0108] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the hook drop control method provided by the above methods is implemented, the method comprising: obtaining a brake signal input by a brake component of a lifting device;

[0109] Determining a current working range of the brake component based on the brake signal; wherein the brake component includes a plurality of working ranges, and the plurality of working ranges are obtained by dividing the working stroke of the brake component;

[0110] The control signal corresponding to the brake signal is determined based on the current working range of the brake component, and the control signal is sent to the brake control component of the hoisting equipment; wherein, the brake control component is used to control the hook braking force of the hoisting equipment according to the control signal.

[0111] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0112] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A hook drop control method, characterized in that: include: Obtaining a brake signal input by a brake component; Determining a current working range of the brake component based on the brake signal; wherein the brake component includes a plurality of working ranges, and the plurality of working ranges are obtained by dividing the working stroke of the brake component; Determining a control signal corresponding to the brake signal based on the current working range of the brake component, and sending the control signal to a brake control component; wherein the brake control component is used to control the hook braking force according to the control signal; The brake component includes at least three working intervals, namely a first working interval, a second working interval and a third working interval; the first working interval, the second working interval and the third working interval are arranged in sequence from the starting point to the end point of the working stroke; The control signal corresponding to the end point of the first working interval is determined based on the hook-dropping working condition and the lower limit of the hook-dropping braking force; the pressure of the friction plate on the reel during normal rotation of the reel is calibrated as the lower limit of the hook-dropping braking force; The control signal corresponding to the end point of the first working interval is determined based on the following method: when the hook drop operating condition is a non-free hook drop operating condition, the control signal corresponding to the end point of the first working interval is determined based on the rated minimum value of the control signal; when the hook drop operating condition is a free hook drop operating condition, the control signal corresponding to the end point of the first working interval is determined based on the lower limit value of the hook drop braking force; The control signal corresponding to the starting point of the third working interval is determined based on the upper limit of the hook-dropping braking force; the pressure of the friction plate on the reel when the reel stops rotating is calibrated as the upper limit of the hook-dropping braking force; The control signal corresponding to the second working interval changes linearly within a preset range.

2. The hook drop control method according to claim 1, characterized in that: The determining of the control signal corresponding to the brake signal based on the current working range of the brake component includes: Based on the correspondence between the current working range of the brake component and the control signal, the control signal corresponding to the brake signal is determined; wherein the correspondence between each working range and the control signal is determined based on the upper limit value and / or lower limit value of the hook braking force.

3. The hook drop control method according to claim 1 or 2, characterized in that: The process of controlling the hook braking force according to the control signal further includes: The control signal is corrected based on the calibration value of the hook-drop braking force corresponding to the control signal and the detected value of the hook-drop braking force.

4. A hook drop control device, characterized in that: include: A data acquisition module is used to acquire a brake signal input by a brake component; a first calculation module, configured to determine a current working range of the brake component based on the brake signal; wherein the brake component includes a plurality of working ranges, and the plurality of working ranges are obtained by dividing the working stroke of the brake component; a second calculation module, configured to determine a control signal corresponding to the brake signal based on the current working range of the brake component, and send the control signal to a brake control component; wherein the brake control component is configured to control the hook drop brake force according to the control signal; The brake component includes at least three working intervals, namely a first working interval, a second working interval and a third working interval; the first working interval, the second working interval and the third working interval are arranged in sequence from the starting point to the end point of the working stroke; The control signal corresponding to the end point of the first working interval is determined based on the hook-dropping working condition and the lower limit of the hook-dropping braking force; the pressure of the friction plate on the reel during normal rotation of the reel is calibrated as the lower limit of the hook-dropping braking force; a third calculation module, configured to: determine, when the hook drop operating condition is a non-free hook drop operating condition, the control signal corresponding to the end point of the first working interval based on the rated minimum value of the control signal; and, when the hook drop operating condition is a free hook drop operating condition, determine, when the hook drop operating condition is a free hook drop operating condition, the control signal corresponding to the end point of the first working interval based on the lower limit value of the hook drop braking force; The control signal corresponding to the starting point of the third working interval is determined based on the upper limit of the hook-dropping braking force; the pressure of the friction plate on the reel when the reel stops rotating is calibrated as the upper limit of the hook-dropping braking force; The control signal corresponding to the second working interval changes linearly within a preset range.

5. A lifting device, characterized in that: include: brake components, brake control assemblies, and control devices; The brake component is used to input a brake signal; The control device is used to determine the current working range of the brake component based on the brake signal; wherein the brake component includes a plurality of working ranges, and the plurality of working ranges are obtained by dividing the working stroke of the brake component; and is further used to determine a control signal corresponding to the brake signal based on the current working range of the brake component, and send the control signal to the brake control component; The brake control component is used to control the hook braking force of the hoisting equipment according to the control signal; The brake component includes at least three working intervals, namely a first working interval, a second working interval and a third working interval; the first working interval, the second working interval and the third working interval are arranged in sequence from the starting point to the end point of the working stroke; The control signal corresponding to the end point of the first working interval is determined based on the hook-dropping working condition and the lower limit of the hook-dropping braking force; the pressure of the friction plate on the reel during normal rotation of the reel is calibrated as the lower limit of the hook-dropping braking force; The control signal corresponding to the end point of the first working interval is determined based on the following method: when the hook drop operating condition is a non-free hook drop operating condition, the control signal corresponding to the end point of the first working interval is determined based on the rated minimum value of the control signal; when the hook drop operating condition is a free hook drop operating condition, the control signal corresponding to the end point of the first working interval is determined based on the lower limit value of the hook drop braking force; The control signal corresponding to the starting point of the third working interval is determined based on the upper limit of the hook-dropping braking force; the pressure of the friction plate on the reel when the reel stops rotating is calibrated as the upper limit of the hook-dropping braking force; The control signal corresponding to the second working interval changes linearly within a preset range.

6. A crane, characterized in that: include: The lifting device according to claim 5.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the hook drop control method according to any one of claims 1 to 3 is implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the hook drop control method according to any one of claims 1 to 3 is implemented.

Images