Bearing assembly lifting control method, hoisting mechanism control method and track lifting butt joint device

Abstract

The invention discloses a bearing assembly lifting control method, a hoisting mechanism control method and a track lifting butt joint device.According to the bearing assembly lifting control method, a hoisting mechanism is used for driving a bearing assembly to ascend and descend so as to adjust the height of the bearing assembly; and the real-time position of the tail end of the driving belt is determined by determining the variable quantity of the cross section area of the driving belt wound on the winding shaft of the hoisting mechanism. When the tail end of the driving belt is located at the zero point sensor, the real-time cross sectional area of the driving belt wound on the winding shaft is subtracted from the determined cross sectional area of the whole full circle part of the driving belt wound on the winding shaft when the winding shaft unwinds, and therefore the real-time cross sectional area of the driving belt wound on the winding shaft is obtained in the unwinding process. The real-time position of the tail end of the driving belt can be determined by dividing the variable quantity of the cross section area of the driving belt wound on the winding shaft by the thickness of the driving belt, and an effective method is provided for accurately controlling the height of the track surface of the lifting track.

Description

Technical Field

[0001] The present invention relates to the field of handling equipment, in particular to a load-bearing component lifting control method, a hoisting mechanism control method, and a track lifting and docking device. Background Art

[0002] In the OHT system, an overhead crane lifting device disclosed in the patent document with application publication number CN116239013A is required to realize the transfer of the overhead crane between the ground and the track at a predetermined height.

[0003] In this structure, the lifting mechanism uses a plurality of lifting belts to drive the lifting track to move up and down to achieve docking with the fixed track.

[0004] When a lifting belt is used for driving, it is necessary to accurately determine the real-time position of the end of the lifting belt in order to determine the height of the track surface of the lifting track, thereby achieving flush docking of the track surface of the lifting track and the track surface of the fixed track. However, the prior art does not disclose a method for accurately determining the real-time position of the end of the lifting belt. Summary of the invention

[0005] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a load-bearing component lifting control method, a hoisting mechanism control method, and a track lifting and docking device.

[0006] The purpose of the present invention is achieved through the following technical solutions: A method for controlling the lifting of a load-bearing component is provided, wherein a hoisting mechanism is used to drive the lifting of the load-bearing component to adjust the height of the load-bearing component, wherein the hoisting mechanism includes a group of drive belts, and ends of the group of drive belts are at the same height and are lifted and lowered synchronously. When controlling the operation of the hoisting mechanism, the real-time position of the end of the drive belt is determined by determining the change in the cross-sectional area of ​​the drive belt wound on the winding shaft of the hoisting mechanism.

[0007] Preferably, the real-time position of the end of the drive belt is determined according to the following formula: H = {πe 2 -[π(e-⌊θ / 360⌋×d) 2 -(360-θmod360)×π / 180×(e-⌊θ / 360⌋)×d×d]} / d; Wherein, H is the real-time position of the end of the driving belt, e is the radius of the cross-section of the winding shaft and all the full turns of the driving belt wound on the winding shaft when the end of the driving belt is located at the zero point sensor; ⌊⌋ indicates rounding down; θ is the unwinding rotation angle of the winding shaft; d is the thickness of the driving belt; mod indicates finding the remainder.

[0008] Preferably, when controlling the hoisting mechanism to drive the lifting track of the bearing assembly to dock with the fixed track, the following steps are performed: Controlling the hoisting mechanism to drive the bearing assembly to lift upward; When it is determined that the first detection sensor at the hoisting mechanism detects the trigger plate on the bearing assembly, the hoisting mechanism drives the bearing assembly to continue to move upward by a target distance until the track surface of the lifting track is higher than the track surface of the fixed track; After the hoisting mechanism drives the bearing assembly to continue to move upward by a target distance, the hoisting mechanism is controlled to drive the bearing assembly to move downward so that the track surface of the lifting track is flush with the track surface of the fixed track.

[0009] Preferably, before the first detection sensor detects the trigger plate, the hoisting mechanism drives the carrying assembly to move upward at a first speed, and after the first detection sensor detects the trigger plate, the hoisting mechanism drives the carrying assembly to move upward a target distance at a second speed that is less than the first speed.

[0010] Preferably, a horizontal latch mechanism is provided at the fixed rail, and a guide sleeve matching the horizontal latch mechanism is provided at the bearing assembly; At any time during the period when the bearing assembly moves upward a target distance and begins to move downward until the lifting track of the bearing assembly moves down to be flush with the track surface of the fixed track, the horizontal pin of the horizontal latch mechanism begins to move toward the guide sleeve matching it on the bearing assembly and is inserted into the guide sleeve matching it.

[0011] Preferably, the insertion hole of the guide sleeve is a waist-shaped hole extending in the vertical direction, and when the lifting track stops moving downward, the horizontal latch abuts against the top of the insertion hole.

[0012] Preferably, the hoisting mechanism is provided with a second detection sensor located above the first detection sensor. At any time before the carrying assembly continues to move upward to the target distance, if the second detection sensor detects the trigger plate, an alarm is issued, and the drive motor is stopped or the drive motor is controlled to drive the carrying assembly to move downward.

[0013] Preferably, during the period from when the horizontal latch pin starts to move toward the guide sleeve matched therewith to when the horizontal latch pin moves to the critical position, the horizontal latch pin moves toward the guide sleeve at a low speed mode; When the horizontal latch moves to a critical position, the horizontal latch is inserted into the guide sleeve at a high speed; In the critical position, the maximum diameter end of the tapered section of the horizontal latch is flush with the end surface of the guide sleeve facing the horizontal latch mechanism.

[0014] A method for controlling a hoisting mechanism, wherein the hoisting mechanism comprises a group of drive belts, the ends of which are at the same height and rise and fall synchronously. When controlling the operation of the hoisting mechanism, the real-time position of the ends of the drive belts is determined by determining the change in the cross-sectional area of ​​the drive belts wound on the winding shaft of the hoisting mechanism.

[0015] A rail lifting and docking device includes a memory and a processor, wherein the memory stores a program that can be processed by the processor, and when the program is executed, any of the above-mentioned load-bearing component lifting control methods or the above-mentioned winch mechanism control methods is implemented.

[0016] The advantages of the technical solution of the present invention are mainly reflected in: The present invention is based on the cross-sectional area of ​​all full turns of the driving belt wound on the winding shaft determined when the end of the driving belt is located at the zero point sensor, and subtracts the real-time cross-sectional area of ​​the driving belt wound on the winding shaft when the winding shaft is unwound, thereby obtaining the change in the cross-sectional area of ​​the driving belt wound on the winding shaft during the unwinding process, and then the real-time position of the end of the driving belt can be determined by dividing the change in the cross-sectional area by the thickness of the driving belt, thereby providing an effective method for accurately controlling the height of the track surface of the lifting track.

[0017] The present invention is provided with a horizontal latch mechanism on the side of the fixed track to cooperate with the guide sleeve at the lifting track, which can effectively support the lifting track after the fixed track and the lifting track are docked, thereby effectively preventing falling and improving safety. At the same time, when the bearing assembly rises to the height at which the first detection sensor detects the trigger plate, the bearing assembly is allowed to continue to move upward and then descend on this basis. In this way, since the distance for the lifting track to continue to adjust is very small, the docking error caused by the expansion and contraction of the belt when the belt is long is effectively avoided, which is conducive to improving the docking accuracy. In addition, it can effectively avoid the problem that the belt and / or the horizontal latch mechanism is damaged when the horizontal latch mechanism is inserted into the guide sleeve during the test, and the bearing assembly continues to rise. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a three-dimensional diagram of the rail lifting and docking device of the present invention; Figure 2 is a perspective view of the bearing assembly of the present invention; Figure 3 is a three-dimensional diagram of the fixed track and horizontal latch mechanism of the present invention; Figure 4 is a three-dimensional diagram of the hoisting mechanism of the present invention; Figure 5 It is a schematic diagram of the process of transferring a transport vehicle by the rail lifting and docking device of the present invention; Figure 6 is a schematic diagram showing that the end of the driving belt of the hoisting mechanism of the present invention is located at the zero point sensor; Figure 7 It is a schematic diagram of the process of the hoisting mechanism of the present invention making the lifting track and the fixed track docking; Figure 8 It is a schematic diagram of the process in which the horizontal winch mechanism adopts a low-speed mode and a high-speed mode during the process in which the hoisting mechanism of the present invention connects the lifting track with the fixed track. DETAILED DESCRIPTION

[0019] The purpose, advantages and features of the present invention will be illustrated and explained by the non-limiting description of the following preferred embodiments. These embodiments are only typical examples of the application of the technical solution of the present invention, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection claimed by the present invention.

[0020] In the description of the scheme, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0021] Example 1 The following is an explanation of the load-bearing assembly lifting control method disclosed by the present invention in conjunction with the accompanying drawings. The load-bearing assembly lifting control method is based on a track lifting docking device, as shown in the accompanying drawings. Figure 1 As shown, the track lifting and docking device includes a bearing assembly 100 , a track assembly 200 , and a hoisting mechanism 300 that drives the bearing assembly 100 to move up and down so that the two lifting rails 110 of the bearing assembly 100 are docked with the two fixed rails 210 of the track assembly 200 .

[0022] As shown in Appendix 2, the bearing assembly 100 is used to lift the transport vehicle 400. The bearing assembly 100 includes two equal-height and parallel lifting rails 110, and the two lifting rails 110 are connected by a set of C-shaped connecting frames 120. The outer sides of the two lifting rails 110 are respectively provided with connecting seats 130 for connecting with the hoisting mechanism 300.

[0023] As attached Figure 1 , Attachment Figure 3The track assembly 200 includes two fixed tracks 210 corresponding to the lifting track 110 , and the fixed tracks 210 can be fixed on the ceiling by hanging. There are two track assemblies 200 and the gap is set at both ends of the bearing assembly 100 .

[0024] The hoisting mechanism 300 may be a known feasible mechanism. For example, in one embodiment, the hoisting mechanism 300 adopts the structure disclosed in the patent document with application publication number CN118479387A, or may adopt other feasible structures. For example, in one embodiment, as shown in the attached Figure 4 As shown, the hoisting mechanism 300 includes a carrier plate 310, which is horizontally fixed below the ceiling. A rotating shaft 320 is rotatably provided at the bottom of the carrier plate 310. The rotating shaft 320 is connected to a driving assembly 330 that drives the rotating shaft 320 to rotate. The driving assembly 330 is, for example, a structure composed of a driving motor and a speed reducer. Four pulleys 340 are concentrically provided on the rotating shaft 320 and rotate synchronously therewith. A driving belt 350 is wound on the winding shaft 341 of each pulley 340. Two driving belts 350 are connected to the pulleys 340 and then extend downward directly from the pulleys 340 and connected to two connecting seats 130 on one side of the bearing assembly 100. The other two driving belts 350 are connected to two connecting seats 130 on the other side of the bearing assembly 100 after passing through the idler wheel 360 away from the rotating shaft 320. In addition, when the rotating shaft 320 rotates, the ends 351 of the four driving belts 350 are lifted and lowered at the same height.

[0025] As attached Figure 4 As shown, a first detection sensor 370 is provided at the hoisting mechanism. The first detection sensor is, for example, a proximity switch, a through-beam sensor or other feasible devices. A trigger plate 140 matching the first detection sensor 370 is provided on the bearing assembly 100. The trigger plate 140 is specifically installed on the side of a connecting frame 120. When the bearing assembly 100 is lifted to a certain height, the first detection sensor 370 can detect the trigger plate 140.

[0026] Furthermore, in order to prevent the winch mechanism 300 from malfunctioning, causing the lifting track 110 to move downward or tilt, etc., which may affect the transfer of the transport vehicle 400, as shown in the attached Figure 2 , Attachment Figure 3As shown, a horizontal latch mechanism 500 is provided at each of the fixed rails 210, and a guide sleeve 150 matching each of the horizontal latch mechanisms 500 is provided at the bearing assembly 100. The horizontal latch mechanism 500 includes a horizontal latch 510, which is parallel to the lifting rail 110 and can be movably arranged on a guide member 520 on the side of the fixed rail 210 along its axial direction. The guide member 520 is, for example, a sleeve, a linear bearing, etc., which is not limited here. The horizontal latch 510 is connected to a driver 530 that drives it to reciprocate along the guide member 520. The driver 530 can be, for example, a servo module, an electric cylinder, a hydraulic cylinder, etc., which is not repeated here. The driver 530 is preferably connected to the end of the horizontal latch 510 facing away from the bearing assembly 100. The guide sleeve 150 is fixed on the outside of each of the lifting rails 110 and close to the end of the lifting rail 110. The socket 151 on the guide sleeve 150 can be a round hole. More preferably, in order to improve efficiency and avoid interference, the socket of the guide sleeve 150 is a waist-shaped hole extending in the vertical direction. When the lifting track 110 stops moving downward, the horizontal pin 510 abuts against the top of the socket.

[0027] Therefore, when the lifting rail 110 is docked with the fixed rail 210, the lifting rail 110 is limited by a set of horizontal pins 510 inserted in the guide sleeve 150, so as to achieve the purpose of preventing falling. At the same time, the horizontal pins 510 can effectively ensure that the track surface of the lifting rail 110 is flush with the track surface of the fixed rail 210.

[0028] Furthermore, in order to ensure that the bearing assembly 100 does not swing during the upward movement, especially when the bearing assembly 100 moves to a high position, the rail docking is not affected by the swing, as shown in the attached Figure 2 , Attachment Figure 4 As shown, a limiting sleeve 160 is provided on the bearing assembly 100, and an inverted cone-shaped or funnel-shaped limiting hole is provided on the limiting sleeve 160, and the axis of the limiting hole extends in the vertical direction, and a vertical limiting rod 380 matching the limiting hole is provided on the hoisting mechanism 300, so that when the bearing assembly 100 is lifted to a predetermined height, each of the vertical limiting rods 380 is inserted into the limiting sleeve 160 concentric therewith, thereby realizing the limitation of the horizontal position of the bearing assembly 100.

[0029] The hoisting mechanism 300 and the horizontal latch mechanism 500 are both connected to a lifting control device, and the lifting control device controls the hoisting mechanism 300 and the horizontal latch mechanism 500 to cooperate to achieve flush docking of the track surfaces of the lifting track 110 and the fixed track 210 .

[0030] When the rail lifting and docking device is used, as shown in the attached Figure 5As shown, the hoisting mechanism 300 can first be used to move the bearing assembly 100 down to an appropriate position below the fixed rail 210 and close to the ground, and then the transport vehicle 400 on the ground can be moved to the lifting rail 110. Then, the hoisting mechanism 300 lifts the bearing assembly 100 upward to allow the lifting rail 110 to dock with the fixed rail 210. After the lifting rail 110 docks with the fixed rail 210, the transport vehicle 400 is transferred from the lifting rail 110 to the fixed rail 210.

[0031] When the transport vehicle 400 on the fixed track 210 needs to be transferred to the ground, the lifting track 110 can be docked with the fixed track 210 first, and the transport vehicle 400 can be moved from the fixed track 210 to the lifting track 110. After the lifting track 110 is lowered to a predetermined height by the hoisting mechanism 300, the transport vehicle 400 can be moved out of the lifting track 110.

[0032] Correspondingly, in the lifting control method of the bearing assembly, when controlling the operation of the hoisting mechanism, the real-time position of the end of the driving belt is determined by determining the change in the cross-sectional area of ​​the driving belt wound on the winding shaft of the hoisting mechanism. Specifically, the real-time position of the end 351 of the driving belt can be determined according to the following formula: H = {πe 2 -[π(e-⌊θ / 360⌋×d) 2 -(360-θmod360)×π / 180×(e-⌊θ / 360⌋)×d×d]} / d; Wherein, H is the real-time position of the end of the driving belt, and e is the radius of the cross section of the winding shaft and all the full turns of the driving belt wound on the winding shaft when the end of the driving belt is located at the zero point sensor, as shown in the attached figure. Figure 6 As shown, the zero point sensor is, for example, a proximity switch; ⌊⌋ indicates rounding down; θ is the angle of rotation of the winding shaft during unwinding. When the end of the drive belt is located at the zero point sensor, θ is 0°. When the winding shaft starts to unwind, the angle θ of rotation of the winding shaft starts to accumulate in real time. When the winding shaft switches from unwinding to rewinding, θ starts to decrease from the accumulated angle. d is the thickness of the drive belt; mod indicates the remainder.

[0033] Furthermore, the above formula is derived according to the following formula: H=(S 满 -S 当 ) / d; S 满 =πe 2 ; S 当 =S 整 -S 缺 S 整 =π(e-⌊θ / 360⌋×d) 2 ; S 缺 = (360-θmod360)×π / 180×(e-⌊θ / 360⌋)×d×d; Among them, S 满 S is the cross-sectional area of ​​all full turns of the driving belt wound on the winding shaft and the winding shaft when the end of the driving belt is located at the zero point sensor 301. A full turn is the part of the driving belt wound 360° on the winding shaft. When the end of the driving belt is located at the zero point sensor, the bearing assembly is at the highest position; S 当 is the cross-sectional area of ​​the drive belt and the winding shaft wound on the winding shaft when the winding shaft rotates by an angle θ, which can be understood as the S 满 The remaining area after deducting the sum of the cross-sectional areas of the unwound drive belt when the winding shaft rotates by an angle of θ (the change in the cross-sectional area of ​​the drive belt); S 整 S is the cross-sectional area of ​​the winding shaft and the full circle of the driving belt wound on the winding shaft after the winding shaft rotates by angle θ; 缺 is the cross-sectional area of ​​the drive belt where the arc portion is missing.

[0034] The real-time position of the end 351 of the driving belt reflects the real-time height difference between the end of the driving belt and the zero point sensor. Therefore, the real-time height of the end of the driving belt can be determined according to the actual height of the zero point sensor and the real-time position of the end of the driving belt. Further, the real-time height of the track surface of the lifting track can be accurately determined according to the real-time height of the end of the driving belt and the height difference between the end of the driving belt and the track surface of the lifting track of the bearing assembly, thereby realizing the precise control of the position of the track surface of the lifting track. In addition, when the lifting track needs to be moved down to the ground and the transport vehicle is pushed in, the material taking height difference between the end 351 of the driving belt and the zero point sensor can be determined in advance when the track surface of the lifting track is at the target low height. Substituting the material taking height difference into the above formula can calculate the angle that the winding shaft needs to rotate for unwinding, and then the winding shaft is rotated by the required angle to make the track surface of the lifting track at the target low height.

[0035] Correspondingly, as attached Figure 7 As shown, when it is necessary to move the bearing assembly upward to dock the lifting track with the fixed track, the bearing assembly lifting control method further includes the following steps: The hoisting mechanism 300 is controlled to drive the bearing assembly 100 to lift upward. During the upward movement of the bearing assembly 100, it is determined in real time whether the first detection sensor 370 at the hoisting mechanism 300 detects the trigger plate 140.

[0036] When it is determined that the first detection sensor 370 detects the trigger plate 140, the hoisting mechanism 300 drives the bearing assembly 100 to continue to move upward by a target distance; the target distance can be set as needed and is not limited here.

[0037] When the hoisting mechanism 300 drives the bearing assembly 100 to continue to move upward by the target distance, the track surface of the lifting track 110 is at the target high position and higher than the track surface of the fixed track 210. At this time, the hoisting mechanism 300 is controlled to drive the bearing assembly 100 to move downward slowly so that the track surface of the lifting track 110 slowly moves downward from the target high position to a position where it is flush with the track surface of the fixed track 210. The speed at which the bearing assembly 100 moves downward can be set as needed and is not limited here.

[0038] The hoisting mechanism 300 causes the lifting track to move down by a first height difference D3, where the first height difference D3 is the height difference between the target high position and the track surface of the fixed track 210, and the first height difference D3 can be determined in advance and stored in a memory for subsequent use.

[0039] And the first real-time position of the end of the driving belt when the track surface of the lifting track 110 is at the target high position can be recorded and stored in advance. Therefore, when the hoisting mechanism 300 drives the bearing assembly 100 to move downward, when it is determined that the distance that the end of the driving belt continues to move downward is equal to the first height difference D3, it is determined that the lifting track has moved down to the right position. Alternatively, the angle that the winding shaft needs to rotate to continue unwinding can be determined based on the first height difference D3. When the unwinding continues, when the winding shaft rotates to the required angle, the winding shaft is stopped. At this time, it is determined that the lifting track has moved down to the right position. And the angle of rotation of the winding shaft at this time can be recorded, and it can be used to determine the angle that the winding shaft needs to continue rotating to unwind when the track surface of the lifting track moves down from a position flush with the track surface of the fixed track to the target low height.

[0040] Furthermore, before the first detection sensor 370 detects the trigger plate 140, the hoisting mechanism 300 drives the carrying assembly 100 to move upward at a first speed. After the first detection sensor 370 detects the trigger plate 140, the hoisting mechanism 300 drives the carrying assembly 100 to move upward at a second speed less than the first speed to the target distance. The first speed and the second speed can be designed as needed and are not limited here. This can effectively ensure the lifting efficiency and effectively avoid the problem of the carrying assembly 100 hitting the top due to inertia due to the excessively fast upward speed.

[0041] Furthermore, a second detection sensor 390 is provided on the hoisting mechanism 300 and is located above the first detection sensor 370. The second detection sensor 390 is the same as the first detection sensor and is not limited here. At any time before the bearing assembly 100 continues to move upward to the target distance, if the second detection sensor 390 detects the trigger plate 140, an alarm is issued, and the drive motor is stopped or the drive motor is controlled to drive the bearing assembly 100 to move downward, thereby minimizing the risk of equipment safety problems in abnormal situations.

[0042] When the bearing assembly 100 moves up the target distance and starts to move down, the horizontal latch pins 510 of each horizontal latch pin mechanism 500 move toward the guide sleeves 150 matched therewith on the bearing assembly 100 and are inserted into the guide sleeves 150 matched therewith.

[0043] Further, as attached Figure 8 As shown, during the period from the horizontal pin 510 starting to move toward the guide sleeve 150 matched therewith to the period when the horizontal pin 510 moves to the critical position, the horizontal pin 510 moves toward the guide sleeve 150 in a low-speed mode; in the low-speed mode, the moving speed of the horizontal pin 510 can be determined according to the downward moving speed of the supporting assembly 100 and the distance required to move downward.

[0044] When the horizontal latch 510 moves to the critical position, the horizontal latch 510 is inserted into the guide sleeve in a high-speed mode; in the high-speed mode, the moving speed of the horizontal latch 510 can be set as needed, which is not described here.

[0045] In the critical position, the maximum diameter end of the tapered section of the horizontal latch pin 510 is flush with the end surface of the guide sleeve facing the horizontal latch pin mechanism 500 .

[0046] In order to ensure the synchronization between the extension of the horizontal latch 510 and the downward movement of the lifting track 110, it is necessary to make the distance between the track surface of the lifting track and the target high position and the distance between the maximum diameter end of the tapered section of the horizontal latch 510 at the real-time position and the retracted position during the extension of the horizontal latch 510 be equal to D3 / D4, where D4 is the horizontal distance between the maximum diameter end of the tapered section of the horizontal latch 510 at the retracted position and the critical position. For example, the height difference D3 from the target height to the bearing surface of the fixed track is 25 mm, and the horizontal distance D4 between the maximum diameter end of the tapered section at the retracted position and the critical position is 20 mm. When the track surface of the lifting track moves to a position 5 mm away from the target height, the distance from the maximum diameter end of the tapered section to the retracted position needs to be 4 mm.

[0047] Of course, in another embodiment, after the lifting track moves down to the position and stops, the horizontal latch of the horizontal latch mechanism can be extended and inserted into the guide sleeve.

[0048] Example 2 In the above-mentioned embodiment 1, the hoisting mechanism is used to carry out the up and down movement of the bearing assembly to realize the transfer of the transport vehicle. Of course, in other embodiments, the hoisting mechanism can also be used for the lifting and lowering of other materials. In this case, the bearing assembly and the fixing assembly may not be required.

[0049] Correspondingly, the hoisting mechanism control method determines the real-time position of the end of the driving belt by determining the change in the cross-sectional area of ​​the driving belt wound on the winding shaft of the hoisting mechanism when controlling the operation of the hoisting mechanism.

[0050] Example 3 This embodiment discloses a lifting control device, including a memory and a processor, wherein the memory stores a program that can be processed by the processor, and when the program is executed, the load-bearing component lifting control method of the above embodiment or the hoisting mechanism control method of the above embodiment is implemented.

[0051] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A method for controlling the lifting of a load-bearing assembly, wherein a hoisting mechanism is used to drive the load-bearing assembly to lift and lower the load-bearing assembly to adjust the height of the load-bearing assembly, wherein the hoisting mechanism comprises a set of drive belts, and the ends of the set of drive belts are at the same height and are lifted and lowered synchronously, wherein: When controlling the operation of the hoisting mechanism, the real-time position of the end of the driving belt is determined by determining the change in the cross-sectional area of ​​the driving belt wound on the winding shaft of the hoisting mechanism.

2. The method for controlling the lifting of a load-bearing assembly according to claim 1, characterized in that: The real-time position of the end of the drive belt is determined according to the following formula: H={πe 2 −[π(e−⌊θ / 360⌋×d) 2 -(360-θmod360)×π / 180×(e-⌊θ / 360⌋)×d×d]} / d; Wherein, H is the real-time position of the end of the driving belt, e is the radius of the cross-section of the winding shaft and all the full turns of the driving belt wound on the winding shaft when the end of the driving belt is located at the zero point sensor; ⌊⌋ indicates rounding down; θ is the unwinding rotation angle of the winding shaft; d is the thickness of the driving belt; mod indicates finding the remainder.

3. The method for controlling the lifting of a load-bearing assembly according to claim 1, characterized in that: When controlling the hoisting mechanism to drive the lifting track of the bearing assembly to dock with the fixed track, the following steps are performed: Controlling the hoisting mechanism to drive the bearing assembly to lift upward; When it is determined that the first detection sensor at the hoisting mechanism detects the trigger plate on the bearing assembly, the hoisting mechanism drives the bearing assembly to continue to move upward by a target distance until the track surface of the lifting track is higher than the track surface of the fixed track; After the hoisting mechanism drives the bearing assembly to continue to move upward by a target distance, the hoisting mechanism is controlled to drive the bearing assembly to move downward so that the track surface of the lifting track is flush with the track surface of the fixed track.

4. The method for controlling the lifting of a load-bearing assembly according to claim 3, characterized in that: Before the first detection sensor detects the trigger plate, the hoisting mechanism drives the bearing assembly to move upward at a first speed, and after the first detection sensor detects the trigger plate, the hoisting mechanism drives the bearing assembly to move upward a target distance at a second speed less than the first speed.

5. The method for controlling the lifting of a load-bearing assembly according to claim 3, characterized in that: A horizontal latch mechanism is arranged at the fixed track, and a guide sleeve matching the horizontal latch mechanism is arranged at the bearing assembly; At any time during the period when the bearing assembly moves upward a target distance and begins to move downward until the lifting track of the bearing assembly moves down to be flush with the track surface of the fixed track, the horizontal pin of the horizontal latch mechanism begins to move toward the guide sleeve matching it on the bearing assembly and is inserted into the guide sleeve matching it.

6. The method for controlling the lifting of a load-bearing assembly according to claim 5, characterized in that: The insertion hole of the guide sleeve is a waist-shaped hole extending in the vertical direction. When the lifting track stops moving downward, the horizontal latch abuts against the top of the insertion hole.

7. The method for controlling the lifting of a load-bearing assembly according to claim 3, characterized in that: The hoisting mechanism is provided with a second detection sensor located above the first detection sensor. When the supporting assembly continues to move upward to any time before the target distance, if the second detection sensor detects the trigger plate, an alarm is issued, and the drive motor is stopped or the drive motor is controlled to drive the supporting assembly to move downward.

8. The method for controlling the lifting of a load-bearing assembly according to any one of claims 1 to 7, characterized in that: During the period from when the horizontal latch pin starts to move toward the guide sleeve matched therewith to when the horizontal latch pin moves to the critical position, the horizontal latch pin moves toward the guide sleeve at a low speed mode; When the horizontal latch moves to a critical position, the horizontal latch is inserted into the guide sleeve at a high speed; In the critical position, the maximum diameter end of the tapered section of the horizontal latch is flush with the end surface of the guide sleeve facing the horizontal latch mechanism.

9. A method for controlling a hoisting mechanism, wherein the hoisting mechanism comprises a set of drive belts, the ends of which are at the same height and rise and fall synchronously, characterized in that: When controlling the operation of the hoisting mechanism, the real-time position of the end of the driving belt is determined by determining the change in the cross-sectional area of ​​the driving belt wound on the winding shaft of the hoisting mechanism.

10. A rail lifting and docking device, comprising a memory and a processor, wherein the memory stores a program that can be processed by the processor, characterized in that: When the program is executed, the load-bearing component lifting control method according to any one of claims 1 to 8 or the hoisting mechanism control method according to claim 9 is implemented.

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