Lifting mechanism limiting method, device, system and storage medium

Abstract

The present application discloses a lifting mechanism limiting method, device, system and storage medium, relating to the field of electrical control technology. The method comprises: when the lifting mechanism is in operation, obtaining the real-time rotation phase angle of the lifting motor corresponding to the lifting mechanism; when the real-time rotation direction of the real-time rotation phase angle is the same as the preset rotation direction of the preset limit rotation phase angle, and the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle, controlling the lifting mechanism to stop operating. By implementing the lifting mechanism limiting in software, the present application solves the technical problem of low reliability of the existing lifting mechanism limiting by physical limiting devices, thereby improving the reliability of the lifting mechanism limiting.

Description

Technical Field

[0001] The present application relates to the field of electrical control technology, and in particular to a lifting mechanism limiting method, device, system and storage medium. Background Art

[0002] During the control of a crane's hoist mechanism, when the hoist reaches its maximum stop position, the upward or downward physical limit device triggers, generating a limit signal. Upon receiving the limit signal, the hoist control system shuts down the hoist motor, bringing the hoist to a safe stop and preventing it from overshooting or bottoming out.

[0003] However, during the operation of the lifting mechanism, the physical limit device may fail to operate due to frequent opening and closing, harsh environment or human shielding, causing the control system of the lifting mechanism to lose the travel limit signal and be unable to confirm the maximum upward or downward travel of the lifting mechanism, which can easily cause the lifting mechanism to hit the top or bottom, and has low reliability. Summary of the Invention

[0004] The main purpose of this application is to provide a lifting mechanism limiting method, equipment, system and storage medium, aiming to solve the technical problem that the existing lifting mechanism is limited by a physical limiting device and has low reliability.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a lifting mechanism limiting method, the method comprising:

[0007] When the hoisting mechanism is in operation, the real-time rotation phase angle of the hoisting motor corresponding to the hoisting mechanism is obtained; wherein the real-time rotation phase angle includes the rotation phase angle of the hoisting motor when the hoisting mechanism runs from a preset highest position or a preset lowest position to the current position;

[0008] When the real-time rotation direction of the real-time rotation phase angle is the same as the preset rotation direction of the preset limit rotation phase angle, and the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle, the lifting mechanism is controlled to stop running; wherein, the preset limit rotation phase angle includes the descending rotation phase angle of the lifting motor when the lifting mechanism runs from the preset highest position to the preset lowest position, or the ascending rotation phase angle of the lifting motor when the lifting mechanism runs from the preset lowest position to the preset highest position.

[0009] Optionally, after the step of obtaining the real-time rotation phase angle of the hoisting motor corresponding to the hoisting mechanism, the method further includes:

[0010] If a limit trigger signal of the limit device of the lifting mechanism is detected, the lifting mechanism is controlled to stop running according to the limit trigger signal;

[0011] If the limit trigger signal is not detected, the step of controlling the lifting mechanism to stop running is executed when the real-time rotation direction of the real-time rotation phase angle is the same as the preset rotation direction of the preset limit rotation phase angle, and the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle.

[0012] Optionally, the step of controlling the lifting mechanism to stop running according to the limit trigger signal includes:

[0013] According to the motor running direction of the lifting motor corresponding to the lifting mechanism, it is judged whether the target limit device corresponding to the limit trigger signal is in the mechanism running direction of the lifting mechanism;

[0014] If the target limit device is in the direction of the mechanism's operation, the lifting mechanism will be controlled to stop running;

[0015] If the target limit device is not in the direction of the mechanism's operation, the lifting mechanism will be kept running and a limit device abnormality trigger alarm will be generated.

[0016] Optionally, if the target limit device is in the direction of mechanism operation, the step of controlling the lifting mechanism to stop operation includes:

[0017] If the target limit device is in the direction of mechanism operation, determine whether the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle corresponding to the mechanism operation direction;

[0018] If the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle, the lifting mechanism is controlled to stop running.

[0019] Optionally, if a limit trigger signal of a limit device of the lifting mechanism is detected, before the step of controlling the lifting mechanism to stop running according to the limit trigger signal, the method further includes:

[0020] Sending a pulse signal to the limit device;

[0021] If a return signal identical to the pulse signal is detected, the limit trigger signal of the limit device is detected.

[0022] Optionally, if a limit trigger signal of a limit device of the lifting mechanism is detected, before the step of controlling the lifting mechanism to stop running according to the limit trigger signal, the method further includes:

[0023] Detecting a first limit trigger signal of a first limit contact and a second limit trigger signal of a second limit contact in a limit device;

[0024] If a limit trigger signal of a limit device of the lifting mechanism is detected, the step of controlling the lifting mechanism to stop running according to the limit trigger signal includes:

[0025] If the first limit trigger signal and / or the second limit trigger signal is detected, the lifting mechanism is controlled to stop running according to the first limit trigger signal and / or the second limit trigger signal.

[0026] In the second aspect, the present application also provides a lifting mechanism limiting device, which includes: a memory, a processor, and a lifting mechanism limiting program stored in the memory and runnable on the processor, and the lifting mechanism limiting program is configured to implement the steps of any of the above-mentioned lifting mechanism limiting methods.

[0027] In a third aspect, the present application further provides a lifting mechanism limiting system, the system comprising:

[0028] lifting mechanism;

[0029] A lifting motor connected to the lifting mechanism;

[0030] Like the above-mentioned lifting mechanism limiting device, the lifting mechanism limiting device is connected to the lifting motor.

[0031] Optionally, the system further includes:

[0032] A limit device comprising a first limit contact and a second limit contact;

[0033] The lifting mechanism limit device includes a first trigger detection module and a second trigger detection module; the first trigger detection module is connected to the first limit contact and is used to detect a first limit trigger signal of the first limit contact; the second trigger detection module is connected to the second limit contact and is used to detect a second limit trigger signal of the second limit contact;

[0034] The lifting mechanism limiting device is also used to control the lifting mechanism to stop running according to the first limit trigger signal and / or the second limit trigger signal.

[0035] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of any of the above-mentioned lifting mechanism limiting methods when the computer program is executed by a processor.

[0036] The present application provides a lifting mechanism limiting method, device, system and storage medium, which obtains the real-time rotation phase angle of the lifting motor corresponding to the lifting mechanism when the lifting mechanism is running; wherein the real-time rotation phase angle includes the rotation phase angle of the lifting motor when the lifting mechanism runs from a preset highest position or a preset lowest position to the current position; when the real-time rotation direction of the real-time rotation phase angle is the same as the preset rotation direction of the preset limit rotation phase angle, and the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle, the lifting mechanism is controlled to stop running; wherein the preset limit rotation phase angle includes the descending rotation phase angle of the lifting motor when the lifting mechanism runs from a preset highest position to a preset lowest position, or the ascending rotation phase angle of the lifting motor when the lifting mechanism runs from a preset lowest position to a preset highest position.

[0037] Therefore, the present application determines whether the lifting mechanism has reached the limit position by judging whether the real-time rotation phase angle of the lifting motor corresponding to the lifting mechanism has reached the preset limit rotation phase angle, and limits the lifting mechanism. By implementing the lifting mechanism limit in software, the failure of the physical limit device is avoided, and the maximum upward or downward stroke of the lifting mechanism cannot be confirmed, which causes the lifting mechanism to hit the top or bottom, thereby improving the reliability of the lifting mechanism limit. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 the structures shown in these drawings without any creative work.

[0039] Figure 1 A lifting mechanism limiting system provided in an embodiment of the present application;

[0040] Figure 2 A partial control principle diagram of a lifting mechanism limit system provided in an embodiment of the present application;

[0041] Figure 3 A schematic diagram of the structure of a lifting mechanism limit device in the hardware operating environment involved in the embodiment of the present application;

[0042] Figure 4 A flow chart of a lifting mechanism limiting method provided in an embodiment of the present application.

[0043] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0045] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0046] In this application, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a device or system comprising a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such a device or system. In the absence of further limitations, an element defined by the phrase "comprises..." does not exclude the presence of additional identical elements in the device or system comprising the element.

[0047] If there are descriptions of "first," "second," etc. in the embodiments of this application, such descriptions are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly specifying the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of such features.

[0048] In addition, the technical solutions of the various embodiments can be combined with each other, but they must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0049] In view of the technical problem that the existing lifting mechanism is limited by a physical limiting device and has low reliability, this application provides a lifting mechanism limiting method. The overall idea is as follows:

[0050] The method includes: when the lifting mechanism is running, obtaining the real-time rotation phase angle of the lifting motor corresponding to the lifting mechanism; wherein the real-time rotation phase angle includes the rotation phase angle of the lifting motor when the lifting mechanism runs from a preset highest position or a preset lowest position to the current position; when the real-time rotation direction of the real-time rotation phase angle is the same as the preset rotation direction of the preset limit rotation phase angle, and the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle, controlling the lifting mechanism to stop running; wherein the preset limit rotation phase angle includes the descending rotation phase angle of the lifting motor when the lifting mechanism runs from a preset highest position to a preset lowest position, or the ascending rotation phase angle of the lifting motor when the lifting mechanism runs from a preset lowest position to a preset highest position.

[0051] The present application provides a lifting mechanism limiting method, which determines whether the lifting mechanism has reached the limit position by judging whether the real-time rotation phase angle of the lifting motor corresponding to the lifting mechanism has reached a preset limit rotation phase angle, and performs lifting mechanism limiting. By implementing the lifting mechanism limiting in software, the failure of the physical limiting device is avoided, and the maximum upward or downward stroke of the lifting mechanism cannot be confirmed, which causes the lifting mechanism to hit the top or bottom, thereby improving the reliability of the lifting mechanism limiting.

[0052] The following is a detailed description of the lifting mechanism limiting method, device, system and storage medium used in the technical implementation of this application:

[0053] Reference Figure 1 and Figure 2 , Figure 1 A lifting mechanism limiting system is provided in an embodiment of the present application. Figure 2 This is a partial control principle diagram of a lifting mechanism limit system provided in an embodiment of the present application. This embodiment provides a lifting mechanism limit system, which may include:

[0054] lifting mechanism;

[0055] A lifting motor connected to the lifting mechanism;

[0056] The lifting mechanism limiting device is connected with the lifting motor.

[0057] In this embodiment, the lifting mechanism (not shown in the figure) can move and stop within the specified range of travel in the vertical direction along with the lifting assembly to achieve load lifting. The lifting motor M can drive the lifting mechanism to operate under the control of the lifting mechanism control device. The lifting mechanism control device can be as follows: Figure 1 Variable frequency drive shown.

[0058] The lifting mechanism limit system may further include an encoder, which is connected to the lifting motor and the lifting mechanism control device respectively. The encoder can feed back the real-time operating status of the lifting motor to the lifting mechanism control device by monitoring the operating status of the lifting motor.

[0059] The lifting mechanism limiting system may also include a brake enabling contactor and a brake. The brake enabling contactor is connected to the lifting mechanism control device and the brake respectively. The lifting mechanism control device can output a braking signal DO to control the brake enabling contactor to enable or stop the enabling brake, thereby braking the lifting mechanism.

[0060] The lifting mechanism limit system may further include a controller PLC or a host computer, which is connected to the limit device to enable the limit device.

[0061] In this embodiment, if Figure 1 As shown, the lifting mechanism limit system can also include a limit device, which can be installed on the lifting assembly according to the actual travel range requirements. When the lifting mechanism reaches the position where the limit device is located, the limit device can be triggered to output a limit signal to the lifting mechanism control device, which can then control the lifting mechanism to stop operation based on the limit signal, thereby achieving the lifting mechanism limit. The limit device can include an upward limit device and a downward limit device.

[0062] like Figure 2 As shown, the limit device includes a first limit contact K1 and a second limit contact K2;

[0063] The lifting mechanism limit device includes a first trigger detection module and a second trigger detection module; the first trigger detection module is connected to the first limit contact K1 and is used to detect the first limit trigger signal of the first limit contact K1; the second trigger detection module is connected to the second limit contact K2 and is used to detect the second limit trigger signal of the second limit contact K2;

[0064] The lifting mechanism limiting device is also used to control the lifting mechanism to stop running according to the first limit trigger signal and / or the second limit trigger signal.

[0065] In this embodiment, the first limit contact K1 and the second limit contact K2 can be normally closed contacts. When the lifting mechanism runs to the position where the limit device is located, the first limit contact K1 and the second limit contact K2 can be triggered to disconnect, and the first limit trigger signal and the second limit trigger signal can be output.

[0066] Taking the lifting mechanism limit device as a variable frequency drive as an example, the first trigger detection module can include a photoelectric coupler U1, which is respectively connected to the first limit contact K1 and the control circuit U3 of the lifting mechanism limit device, and is used to output a first detection signal to the control circuit U3 when receiving the first limit trigger signal, so that the control circuit U3 controls the lifting mechanism according to the first detection signal.

[0067] The second trigger detection module may include a photoelectric coupler U2, which is respectively connected to the second limit contact K2 and the control circuit U3 of the lifting mechanism limit device, and is used to output a second detection signal to the control circuit U3 when receiving the second limit trigger signal, so that the control circuit U3 controls the lifting mechanism according to the second detection signal.

[0068] like Figure 2 As shown, the variable frequency drive further includes a motor power supply module U4. The control circuit U3 can control the motor power supply module U4 according to the first detection signal and / or the second detection signal to control the working state of the lifting motor M to control the working state of the lifting mechanism.

[0069] In a specific implementation, when the variable frequency drive drives the lifting motor to control the operation of the lifting mechanism, the first limit contact K1 and the second limit contact K2 are closed, and the variable frequency drive controls the lifting motor M to drive the lifting mechanism to rise, fall or stop according to actual usage requirements. When the lifting mechanism runs to the highest position or the lowest position within the specified travel range, the first limit contact K1 and the second limit contact K2 are triggered to disconnect, and the first limit trigger signal and / or the second limit trigger signal are output to the variable frequency drive. After the variable frequency drive receives the first limit trigger signal and / or the second limit trigger signal, it determines whether to control the lifting mechanism to stop running according to the lifting mechanism limiting method of the following embodiment of this application.

[0070] It can be understood that the limit device of this embodiment is provided with two normally closed contacts. When any normally closed contact becomes stuck and cannot output the limit trigger signal, the limit trigger signal can also be output to the frequency converter through the other normally closed contact to realize the limit of the lifting mechanism.

[0071] Among them, reference Figure 3 , Figure 3 This is a structural diagram of the lifting mechanism limiting device in the hardware operating environment involved in the embodiment of the present application.

[0072] like Figure 3As shown, the device may include: a processor 1001, such as a CPU, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a lifting motor, a limit device, and a brake enabling deserializer, etc. Optionally, the user interface 1003 may also be a display screen (Display), an input unit such as a keyboard (Keyboard), etc. The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0073] It is understood that the device may further include a network interface 1004, which may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface). Optionally, the device may further include an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like.

[0074] Those skilled in the art will understand that Figure 3 The device structure shown in the figure does not constitute a limitation of the device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0075] The lifting mechanism limiting method and storage medium of the present application are described in detail below with reference to the accompanying drawings and specific implementation methods.

[0076] Based on the above hardware structure but not limited to the above hardware structure, refer to Figure 4 , Figure 4 A flow chart of a lifting mechanism limiting method provided in an embodiment of the present application.

[0077] This embodiment provides a lifting mechanism limiting method, which may include:

[0078] Step S100: When the lifting mechanism is in operation, the real-time rotation phase angle of the lifting motor corresponding to the lifting mechanism is obtained.

[0079] The real-time rotation phase angle includes the rotation phase angle of the lifting motor when the lifting mechanism runs from a preset highest position or a preset lowest position to the current position.

[0080] Step S200: When the real-time rotation direction of the real-time rotation phase angle is the same as the preset rotation direction of the preset limit rotation phase angle, and the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle, the lifting mechanism is controlled to stop running.

[0081] Among them, the preset limit rotation phase angle includes the descending rotation phase angle of the lifting motor when the lifting mechanism runs from a preset highest position to a preset lowest position, or the ascending rotation phase angle of the lifting motor when the lifting mechanism runs from a preset lowest position to a preset highest position.

[0082] In this embodiment, the execution body may be the above-mentioned lifting mechanism limiting device.

[0083] In the actual lifting mechanism limiting system, the encoder is set on the lifting motor of the lifting mechanism. The lifting motor is used to rotate forward or reverse according to actual use requirements to drive the lifting mechanism to rise or fall. The phase angle of the encoder can change with the rotation of the lifting motor, so that the encoder can monitor and feedback the operating status of the lifting motor (that is, the rotation phase angle) to the lifting mechanism limiting device, so that the lifting mechanism limiting device can determine the operating status of the lifting mechanism according to the operating status of the lifting motor.

[0084] It can be understood that for different lifting mechanisms, the travel range of the lifting mechanism is different, and the preset highest position and the preset lowest position can be set according to actual use requirements.

[0085] The operation of a hoisting mechanism can include ascending from a preset lowest position to a preset highest position and descending from a preset highest position to a preset lowest position. When the hoisting mechanism reaches the preset highest position or the preset lowest position, the hoisting mechanism needs to be limited. Since the travel range of the same hoisting mechanism is fixed, the phase angle change of the encoder on the corresponding motor of the hoisting mechanism can be used to determine the operation of the hoisting mechanism and implement hoisting mechanism limits.

[0086] The real-time rotation phase angle may be the encoder phase angle change during the process of the hoisting mechanism moving from a preset lowest position or a preset highest position to the current position. The descending rotation phase angle may be the encoder phase angle change during the process of the hoisting mechanism moving from a preset highest position to a preset lowest position. The ascending rotation phase angle may be the encoder phase angle change during the process of the hoisting mechanism moving from a preset lowest position to a preset highest position. The phase angle change may include the rotation direction of the phase angle and the absolute value of the phase angle change.

[0087] In specific implementation, during the operation of the lifting mechanism, the real-time rotation phase angle of the lifting motor is obtained in real time. When the real-time rotation phase angle reaches the preset rotation phase angle position, it is judged that the lifting mechanism has reached the preset limit position, and the lifting mechanism is controlled to stop running to achieve the lifting mechanism limit.

[0088] This embodiment provides a lifting mechanism limiting method, which determines whether the lifting mechanism has reached the limit position by judging whether the real-time rotation phase angle of the encoder corresponding to the lifting mechanism has reached the preset limit rotation phase angle, and performs lifting mechanism limiting. By implementing the lifting mechanism limiting in software, the failure of the physical limiting device is avoided, and the maximum upward or downward stroke of the lifting mechanism cannot be confirmed, which causes the lifting mechanism to hit the top or bottom, thereby improving the reliability of the lifting mechanism limiting.

[0089] As an implementation manner, after step S100, the method may further include:

[0090] Step S300: If a limit trigger signal of the limit device of the lifting mechanism is detected, the lifting mechanism is controlled to stop running according to the limit trigger signal.

[0091] Step S400 may include: if no limit trigger signal is detected, executing step S200.

[0092] In this embodiment, the limiting device can be a physical limiting device in the above-mentioned lifting mechanism limiting system, which can include an upward limiting device respectively set at the preset highest position of the lifting mechanism operation and a downward limiting device respectively set at the preset lowest position of the lifting mechanism operation.

[0093] During operation of the lifting mechanism, when the lifting mechanism reaches the limit device, the limit device can be triggered to issue a limit trigger signal, causing the lifting mechanism limit device to determine the need to limit the lifting mechanism based on the limit trigger signal and control the lifting mechanism to stop operation. If the limit device fails to operate, this embodiment can achieve the lifting mechanism limit through the software limit method described in the first embodiment above.

[0094] In this embodiment, step S300 may include:

[0095] Step S310: judging whether the target limit device corresponding to the limit trigger signal is in the mechanism running direction of the lifting mechanism according to the motor running direction of the lifting motor corresponding to the lifting mechanism.

[0096] Step S320: If the target limit device is in the direction of the mechanism operation, the lifting mechanism is controlled to stop operation;

[0097] Step S330: If the target limit device is not in the direction of the mechanism operation, the lifting mechanism is kept running and an abnormal trigger alarm of the limit device is generated.

[0098] In this embodiment, the target limit device can be a limit device that is triggered between the rising limit device and the falling limit device. In the lifting mechanism limit system, the motor running direction of the lifting motor corresponds to the mechanism running direction of the lifting mechanism. The motor running direction includes forward and reverse. The mechanism running direction includes rising or falling. When the lifting motor rotates forward and the lifting mechanism rises, the lifting motor rotates reversely and the lifting mechanism falls. Conversely, when the lifting motor corresponds to the lifting mechanism falling, the lifting motor rotates forward and the lifting mechanism rises. Specifically, the correspondence between the motor running direction and the mechanism running direction can be determined according to actual usage.

[0099] In the specific implementation, when the lifting mechanism limit device receives the limit trigger signal, the position of the triggered target limit device can be determined according to the interface for receiving the limit trigger signal, and the mechanism operation direction of the lifting mechanism can be determined according to the motor operation direction of the lifting motor. Then, according to the position of the target limit device and the mechanism operation direction, it is judged whether the target limit device is in the mechanism operation direction. When the target limit device is in the mechanism operation direction, it is judged that the lifting mechanism has run to the target limit device and the target limit device is triggered to output the limit trigger signal, and the lifting mechanism is controlled to stop running; when the target limit device is not in the mechanism operation direction, it is judged that the target limit device is mistakenly triggered, the lifting mechanism is kept running, and an abnormal trigger alarm of the limit device is generated.

[0100] It can be understood that the rising limit device and the falling limit device of this embodiment can be connected to the lifting mechanism limit device through different interfaces.

[0101] Specifically, step S320 may include: if the target limit device is in the direction of mechanism operation, then judging whether the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle corresponding to the mechanism operation direction; if the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle, then controlling the lifting mechanism to stop running.

[0102] In this embodiment, after the target limit device is triggered and it is determined that the triggered target limit device is in the direction of mechanism operation, it is possible to further determine whether the real-time rotation phase angle of the encoder reaches the preset limit rotation phase angle corresponding to the target limit device to determine whether the lifting mechanism has reached the target limit device, so as to avoid the limit device being accidentally triggered, causing the lifting mechanism to stop operating.

[0103] It can be understood that when the lifting mechanism limiting device determines that the lifting mechanism has reached the limiting device and controls the lifting mechanism to stop running, a limit trigger warning can also be generated; if the limiting device of the lifting mechanism limiting device is mistakenly triggered, the lifting mechanism is controlled to run normally, and a limit abnormality trigger warning can be generated for subsequent processing.

[0104] In this embodiment, before step S300 , the method may further include: sending a pulse signal to the limit device; and if a return signal identical to the pulse signal is detected, detecting a limit trigger signal of the limit device.

[0105] It is understood that when the lifting mechanism is in operation, the limit device can be tested to determine whether the limit device is installed in the lifting mechanism limit system or whether the limit device is invalid. Figure 2 As shown, since the limit device includes a normally closed contact, different groups of pulse signals can be sent to the circuit where the limit device is located. When the pulse value of the received return signal is the same as the pulse value of the sent pulse signal, it indicates that the limit device has been installed. During the operation of the lifting mechanism, the lifting mechanism can be limited by detecting whether the limit device is triggered. When the limit device is not detected to be triggered, the lifting mechanism is controlled to stop running based on the relationship between the implementation rotation phase angle of the recorded encoder and the preset limit rotation phase angle of the system. In this way, when the limit device fails to operate, the lifting mechanism can be limited by the software limit method in the above-mentioned embodiment 1.

[0106] In this embodiment, before step S300 , the method may further include: detecting a first limit trigger signal of a first limit contact and a second limit trigger signal of a second limit contact in the limit device.

[0107] Step S300 may include: if the first limit trigger signal and / or the second limit trigger signal is detected, controlling the lifting mechanism to stop running according to the first limit trigger signal and / or the second limit trigger signal.

[0108] As in the above-mentioned lifting mechanism limit system, the limit device may include two limit contacts. The lifting mechanism limit device may limit the lifting mechanism according to the limit trigger signal of any limit contact, thereby avoiding the situation where a single limit contact becomes sticky and cannot output the limit trigger signal.

[0109] It should be noted that when the lifting mechanism limit device receives two limit trigger signals, it can judge whether each limit trigger signal is obtained due to the limit device being accidentally touched according to the method of the above steps S310 to S320. When the judgment results of the two limit trigger signals are both that the limit trigger signal is detected, or the judgment result of one limit trigger signal is that the limit trigger signal is detected and the judgment result of the other limit trigger signal is that the limit trigger signal is not detected, the lifting mechanism is controlled to stop running. When the judgment results of the two limit trigger signals are both that the limit trigger signal is not detected, the lifting motor is controlled to continue running. Among them, the lifting mechanism limit device can control the lifting mechanism to stop running by entering the safe torque shutdown mode, shutting off the torque output, and controlling the lifting motor to stop.

[0110] This embodiment provides a method for limiting a lifting mechanism. On the one hand, when the lifting mechanism is running, the limiting device is adaptively detected, and the limiting device is monitored online to see if it fails. When it is detected that the limiting device is invalid, the limiting device can be replaced in time. On the other hand, the false triggering of the limiting device is detected according to the motor running direction of the lifting motor and the preset limit rotation phase angle. The false triggering of the physical limit is detected by software, thereby avoiding the triggering of the limiting device in the running direction other than the lifting mechanism, which affects the limiting device of the lifting mechanism and cannot identify the triggering of the limiting device in the running direction of the lifting mechanism, thereby improving the reliability of the lifting mechanism limit. On the other hand, the limiting device is provided with dual limit contacts, and the limit triggering signals of the dual limit contacts are collected by dual-channel wave sealing technology to limit the lifting mechanism, thereby avoiding the situation where the lifting mechanism does not stop and limit when a single limit contact fails.

[0111] In addition, an embodiment of the present application further proposes a computer storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the lifting mechanism limiting method as described above are implemented. Therefore, no further description will be given here. In addition, the description of the beneficial effects of adopting the same method will not be repeated. For technical details not disclosed in the computer-readable storage medium embodiment involved in this application, please refer to the description of the method embodiment of this application. As an example, program instructions can be deployed to be executed on one computing device, or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network.

[0112] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A lifting mechanism limiting method, characterized in that: The method comprises: When the hoisting mechanism is running, obtaining the real-time rotation phase angle of the hoisting motor corresponding to the hoisting mechanism; wherein the real-time rotation phase angle includes the rotation phase angle of the hoisting motor when the hoisting mechanism runs from a preset highest position or a preset lowest position to the current position; When the real-time rotation direction of the real-time rotation phase angle is the same as the preset rotation direction of the preset limit rotation phase angle, and the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle, the lifting mechanism is controlled to stop running; wherein, the preset limit rotation phase angle includes the descending rotation phase angle of the lifting motor when the lifting mechanism runs from the preset highest position to the preset lowest position, or the ascending rotation phase angle of the lifting motor when the lifting mechanism runs from the preset lowest position to the preset highest position.

2. The method according to claim 1, wherein After the step of obtaining the real-time rotation phase angle of the hoisting motor corresponding to the hoisting mechanism, the method further includes: If a limit trigger signal of the limit device of the lifting mechanism is detected, the lifting mechanism is controlled to stop running according to the limit trigger signal; If the limit trigger signal is not detected, the step of controlling the lifting mechanism to stop running is executed when the real-time rotation direction of the real-time rotation phase angle is the same as the preset rotation direction of the preset limit rotation phase angle, and the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle.

3. The method according to claim 2, wherein The step of controlling the lifting mechanism to stop operating according to the limit trigger signal includes: According to the motor running direction of the lifting motor corresponding to the lifting mechanism, determining whether the target limit device corresponding to the limit trigger signal is in the mechanism running direction of the lifting mechanism; If the target limit device is in the direction of operation of the mechanism, the lifting mechanism is controlled to stop running; If the target limit device is not in the direction of operation of the mechanism, the lifting mechanism is kept running and an abnormal triggering alarm of the limit device is generated.

4. The method according to claim 3, wherein The step of controlling the lifting mechanism to stop running if the target limit device is in the running direction of the mechanism comprises: If the target limit device is in the direction of operation of the mechanism, determining whether the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle corresponding to the direction of operation of the mechanism; If the absolute value of the real-time rotation phase angle is greater than or equal to the absolute value of the preset limit rotation phase angle, the lifting mechanism is controlled to stop running.

5. The method according to claim 2, wherein Before the step of controlling the lifting mechanism to stop running according to the limit trigger signal if a limit trigger signal of the limit device of the lifting mechanism is detected, the method further includes: sending a pulse signal to the limit device; If a return signal identical to the pulse signal is detected, the limit trigger signal of the limit device is detected.

6. The method according to claim 2, wherein Before the step of controlling the lifting mechanism to stop running according to the limit trigger signal if a limit trigger signal of the limit device of the lifting mechanism is detected, the method further includes: Detecting a first limit trigger signal of a first limit contact and a second limit trigger signal of a second limit contact in the limit device; If a limit trigger signal of the limit device of the lifting mechanism is detected, the step of controlling the lifting mechanism to stop running according to the limit trigger signal includes: If the first limit trigger signal and / or the second limit trigger signal is detected, the lifting mechanism is controlled to stop running according to the first limit trigger signal and / or the second limit trigger signal.

7. A lifting mechanism limiting device, characterized in that: The device includes: a memory, a processor, and a lifting mechanism limiting program stored in the memory and executable on the processor. The lifting mechanism limiting program is configured to implement the steps of the lifting mechanism limiting method according to any one of claims 1 to 6.

8. A lifting mechanism limit system, characterized in that: The system comprises: lifting mechanism; A lifting motor connected to the lifting mechanism; The lifting mechanism limiting device according to claim 7, wherein the lifting mechanism limiting device is connected to the lifting motor.

9. The system according to claim 8, wherein The system further comprises: A limit device comprising a first limit contact and a second limit contact; The lifting mechanism limit device includes a first trigger detection module and a second trigger detection module; the first trigger detection module is connected to the first limit contact and is used to detect a first limit trigger signal of the first limit contact; the second trigger detection module is connected to the second limit contact and is used to detect a second limit trigger signal of the second limit contact; The lifting mechanism limiting device is further used to control the lifting mechanism to stop running according to the first limit trigger signal and / or the second limit trigger signal.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, which, when executed by a processor, implements the steps of the lifting mechanism limiting method according to any one of claims 1 to 6.

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