Lifting control method of bearing assembly, control method of hoisting mechanism, track lifting docking device

Abstract

The application discloses a bearing assembly lifting control method, a hoisting mechanism control method and a track lifting docking device. The bearing assembly lifting control method drives the bearing assembly to lift by a hoisting mechanism to adjust the height of the bearing assembly. When the hoisting mechanism is controlled to work, the real-time position of the end of the driving belt is determined by determining the cross-sectional area variation of the driving belt wound on the winding shaft of the hoisting mechanism. When the end of the driving belt is located at the zero sensor, the cross-sectional area of the full circle part of the driving belt wound on the winding shaft is determined. Then, the real-time cross-sectional area of the driving belt wound on the winding shaft when the winding shaft is unwound is subtracted, so that the cross-sectional area variation of the driving belt wound on the winding shaft during the unwinding process is obtained. Then, the real-time position of the end of the driving belt is determined by dividing the cross-sectional area variation by the thickness of the driving belt, which provides an effective method for accurately controlling the height of the track surface of the lifting track.

Description

Technical Field

[0001] This invention relates to the field of material handling equipment, and in particular to lifting control methods for load-bearing components, hoisting mechanism control methods, and track lifting docking devices. Background Technology

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

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

[0004] When using a lifting belt 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, so as to achieve the flush connection between 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 this invention is to solve the above-mentioned problems existing in the prior art and to provide a lifting control method for a load-bearing component, a hoisting mechanism control method, and a track lifting docking device.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A lifting control method for a load-bearing component involves using a winch mechanism to drive the load-bearing component to lift and lower, thereby adjusting the height of the load-bearing component. The winch mechanism includes a set of drive belts, the ends of which are at the same height and lift and lower synchronously. When controlling the operation of the winch mechanism, the real-time position of the end of the drive belt is determined by measuring the change in the cross-sectional area of ​​the drive belt wound on the winding shaft of the winch mechanism.

[0008] Preferably, the real-time position of the end of the drive belt is determined according to the following formula:

[0009] H={πe 2 -[π(e-⌊θ / 360⌋×d) 2 -(360-θmod360)×π÷180×(e-⌊θ / 360⌋×d)×d]} / d;

[0010] Where H is the real-time position of the end of the drive belt, e is the radius of the cross-section of the drive belt and the entire full loop portion of the drive belt wound on the winding shaft when the end of the drive belt is at the zero point sensor; ⌊⌋ indicates rounding down; θ is the angle of unwinding rotation of the winding shaft; d is the thickness of the drive belt; mod indicates the remainder.

[0011] 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:

[0012] The hoisting mechanism is controlled to drive the load-bearing assembly to lift upwards;

[0013] When 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 moving upward a target distance until the surface of the lifting track is higher than the surface of the fixed track.

[0014] After the hoisting mechanism drives the bearing component to continue moving upward a target distance, the hoisting mechanism is controlled to drive the bearing component downward so that the track surface of the lifting track is flush with the track surface of the fixed track.

[0015] 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 less than the first speed.

[0016] Preferably, a horizontal pin mechanism is provided at the fixed track, and a guide sleeve matching the horizontal pin mechanism is provided at the bearing component;

[0017] At any point during the period when the support component moves upward a target distance and begins to move downward until the lifting track of the support component moves down to be flush with the track surface of the fixed track, the horizontal pin of the horizontal pin mechanism begins to move toward the guide sleeve that matches it on the support component until it is inserted into the guide sleeve that matches it.

[0018] Preferably, the guide sleeve has an insertion hole that is an oblong shape extending in the vertical direction, and when the lifting track stops moving downward, the horizontal pin abuts against the top of the insertion hole.

[0019] Preferably, the hoisting mechanism is provided with a second detection sensor located above the first detection sensor. If the second detection sensor detects the trigger plate at any time before the bearing assembly continues to move upward to the target distance, an alarm is issued and the drive motor is stopped or the drive motor is controlled to drive the bearing assembly downward.

[0020] Preferably, during the period from the start of the horizontal pin moving toward the mating guide sleeve to the time the horizontal pin moves to the critical position, the horizontal pin moves toward the guide sleeve in a low-speed mode.

[0021] When the horizontal pin moves to the critical position, the horizontal pin is inserted into the guide sleeve in a high-speed mode.

[0022] At the critical position, the end of the tapered section of the horizontal pin with the maximum diameter is flush with the end face of the guide sleeve facing the horizontal pin mechanism.

[0023] A hoisting mechanism control method, wherein the hoisting mechanism includes a set of drive belts, the ends of the drive belts being at the same height and rising and falling synchronously, and 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.

[0024] The track lifting docking device includes a memory and a processor. The memory stores a program that can be processed by the processor. When the program is executed, it implements the lifting control method of the bearing component as described above or the hoisting mechanism control method as described above.

[0025] The advantages of the technical solution of this invention are mainly reflected in:

[0026] This invention, based on the cross-sectional area of ​​the entire full loop of the drive belt wound on the winding shaft determined when the end of the drive belt is at the zero-point sensor, subtracts the real-time cross-sectional area of ​​the drive belt wound on the winding shaft during unwinding. This yields the change in the cross-sectional area of ​​the drive belt wound on the winding shaft during unwinding. The real-time position of the end of the drive belt can then be determined by dividing the change in cross-sectional area by the thickness of the drive belt. This provides an effective method for accurately controlling the height of the lifting track surface.

[0027] This invention features a horizontal pin mechanism on the side of the fixed track that engages with the guide sleeve at the lifting track. This effectively supports the lifting track after the fixed and lifting tracks are connected, preventing falls and improving safety. Simultaneously, when the supporting component rises to the height detected by the first detection sensor on the trigger plate, it continues to move upwards before descending. Because the adjustment distance of the lifting track is very small, it effectively avoids connection errors caused by the stretching of the belt when the belt is long, improving connection accuracy. Furthermore, it effectively prevents damage to the belt and / or the horizontal pin mechanism caused by the horizontal pin inserting into the guide sleeve during testing, which could result in the supporting component continuing to rise. Attached Figure Description

[0028] Figure 1 This is a perspective view of the track lifting and docking device of the present invention;

[0029] Figure 2 This is a perspective view of the carrier component of the present invention;

[0030] Figure 3 This is a perspective view of the fixed track and horizontal pin mechanism of the present invention;

[0031] Figure 4 This is a perspective view of the hoisting mechanism of the present invention;

[0032] Figure 5 This is a schematic diagram of the process of transferring a transport vehicle using the track lifting docking device of the present invention;

[0033] Figure 6 This is a schematic diagram showing the end of the drive belt of the hoisting mechanism of the present invention located at the zero-point sensor;

[0034] Figure 7 This is a schematic diagram illustrating the process by which the hoisting mechanism of the present invention connects the lifting track with the fixed track;

[0035] Figure 8 This is a schematic diagram illustrating the process of the horizontal pin mechanism using low-speed and high-speed modes during the connection between the hoisting mechanism of the present invention and the lifting track and the fixed track. Detailed Implementation

[0036] The objectives, advantages, and features of this invention will be illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of applying the technical solutions of this invention, and all technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of protection claimed by this invention.

[0037] In the description of the solution, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0038] Example 1

[0039] The lifting control method for the load-bearing component disclosed in this invention will now be described in conjunction with the accompanying drawings. This lifting control method is based on a track lifting and docking device, as shown in the attached drawings. Figure 1 As shown, the rail lifting docking device includes a bearing component 100, a rail component 200, and a winch mechanism 300 that drives the bearing component 100 to move up and down so that the two lifting rails 110 of the bearing component 100 dock with the two fixed rails 210 of the rail component 200.

[0040] As attached Figure 2 As shown, the load-bearing assembly 100 is used for lifting and lowering the transport vehicle 400. The load-bearing assembly 100 includes two parallel lifting rails 110 of equal height, which are connected by a set of C-shaped connecting frames 120. Connecting seats 130 for connecting to the hoisting mechanism 300 are respectively provided on the outer sides of the two lifting rails 110.

[0041] As attached Figure 1 Appendix Figure 3 As shown, the track assembly 200 includes two fixed tracks 210 corresponding to the lifting track 110, and the fixed tracks 210 can be fixed to the ceiling by suspension. There are two track assemblies 200, and the gap between them is set at both ends of the support assembly 100.

[0042] The hoisting mechanism 300 can be a known feasible mechanism. For example, in one embodiment, the hoisting mechanism 300 adopts the structure disclosed in patent document CN118479387A, or it can adopt other feasible structures. For example, in one embodiment, as shown in the appendix... 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 mounted on the bottom of the carrier plate 310. The rotating shaft 320 is connected to a drive assembly 330 that drives its rotation. The drive assembly 330 is, for example, a structure consisting of a drive motor and a reduction gear. Four pulleys 340 are concentrically mounted on the rotating shaft 320 and rotate synchronously with it. A drive belt 350 is wound around the winding shaft 341 of each pulley 340. Two drive belts 350 are connected to the pulleys 340 and extend directly downwards from the pulleys 340 to two connecting seats 130 on one side of the support assembly 100. The other two drive belts 350 pass over an idler pulley 360 away from the rotating shaft 320 and connect to two connecting seats 130 on the other side of the support assembly 100. Furthermore, when the rotating shaft 320 rotates, the ends 351 of the four drive belts 350 rise and fall simultaneously to the same height.

[0043] 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 device. 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.

[0044] Furthermore, to prevent a malfunction of the hoisting mechanism 300 from causing the lifting rail 110 to shift downwards or tilt, thus affecting the transfer of the transport vehicle 400, as shown in the attached... Figure 2 Appendix Figure 3 As shown, a horizontal pin mechanism 500 is provided at each of the fixed rails 210, and a guide sleeve 150 matching each of the horizontal pin mechanisms 500 is provided at the bearing assembly 100. The horizontal pin mechanism 500 includes a horizontal pin 510, which is parallel to the lifting rail 110 and is axially movable on a guide member 520 on the side of the fixed rail 210. The guide member 520 can be, for example, a bushing, a linear bearing, etc., and is not limited here. The horizontal pin 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., and is not described in detail here. Preferably, the driver 530 is connected to the end of the horizontal pin 510 facing away from the bearing assembly 100. The guide sleeve 150 is fixed to the outside of each lifting rail 110 and close to the end of the lifting rail 110. The insertion hole 151 on the guide sleeve 150 can be a round hole. More preferably, in order to improve efficiency and avoid interference, the insertion hole of the guide sleeve 150 is an oblong hole extending in the vertical direction. When the lifting track 110 stops moving downward, the horizontal pin 510 abuts against the top of the insertion hole.

[0045] Therefore, when the lifting track 110 is connected to the fixed track 210, a set of horizontal pins 510 inserted in the guide sleeve 150 limits the lifting track 110, thereby achieving the purpose of preventing it from falling. At the same time, the horizontal pins 510 can effectively ensure that the track surface of the lifting track 110 is flush with the track surface of the fixed track 210.

[0046] Furthermore, to ensure that the swaying of the bearing component 100 during its upward movement, especially when the bearing component 100 is moved to a higher position, does not affect the track docking, as shown in the attached... Figure 2 Appendix Figure 4 As shown, a limiting sleeve 160 is provided on the bearing assembly 100. The limiting sleeve 160 is provided with a limiting hole in the shape of an inverted frustum or a funnel. The axis of the limiting hole extends in the vertical direction. The hoisting mechanism 300 is provided with a vertical limiting rod 380 that matches the limiting hole. So when the bearing assembly 100 is raised to a predetermined height, each of the vertical limiting rods 380 is inserted into the limiting sleeve 160 that is concentric with it, thereby limiting the horizontal position of the bearing assembly 100.

[0047] The hoisting mechanism 300 and the horizontal pin mechanism 500 are both connected to a lifting control device. The lifting control device controls the hoisting mechanism 300 and the horizontal pin mechanism 500 to cooperate in achieving the flush connection of the track surfaces of the lifting track 110 and the fixed track 210.

[0048] When the track lifting and docking device is in use, as shown in the attached... Figure 5 As shown, the hoisting mechanism 300 can first move the carrying component 100 down to a suitable position below the fixed rail 210 and close to the ground. Then, the transport vehicle 400 on the ground can be moved onto the lifting rail 110. Then, the hoisting mechanism 300 can lift the carrying component 100 upward so that the lifting rail 110 is connected to the fixed rail 210. After the lifting rail 110 is connected to the fixed rail 210, the transport vehicle 400 is transferred from the lifting rail 110 to the fixed rail 210.

[0049] When it is necessary to transfer the transport vehicle 400 on the fixed track 210 to the ground, the lifting track 110 can be connected to the fixed track 210 first, and the transport vehicle 400 can be moved from the fixed track 210 to the lifting track 110. Then, the hoisting mechanism 300 can be used to lower the lifting track 110 to a predetermined height, and the transport vehicle 400 can be moved out of the lifting track 110.

[0050] Correspondingly, in the lifting control method for the bearing component, 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. Specifically, the real-time position of the end 351 of the drive belt can be determined according to the following formula:

[0051] H={πe 2 -[π(e-⌊θ / 360⌋×d) 2 -(360-θmod360)×π÷180×(e-⌊θ / 360⌋×d)×d]} / d;

[0052] Where H is the real-time position of the end of the drive belt, and e is the radius of the cross-section of the drive belt and the total number of full turns wound around the winding shaft when the end of the drive belt is 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 unwinding rotation angle of the winding shaft. When the end of the drive belt is at the zero-point sensor, θ is 0°. When the winding shaft starts unwinding, the rotation angle θ of the winding shaft begins to accumulate in real time. When the winding shaft switches from unwinding to winding, θ decreases from the accumulated angle. d is the thickness of the drive belt; mod indicates the remainder.

[0053] Furthermore, the above formula is derived from the following formula:

[0054] H=(S 满 -S 当 ) / d;

[0055] S 满 =πe 2 ;

[0056] S 当 =S 整 -S 缺

[0057] S 整 =π(e-⌊θ / 360⌋×d) 2 ;

[0058] S 缺 = (360-θmod360)×π÷180×(e-⌊θ / 360⌋×d)×d;

[0059] Among them, S 满 When the end of the drive belt is located at the zero-point sensor 301, the cross-sectional area of ​​all full turns of the drive belt wound on the winding shaft is equal to the cross-sectional area of ​​the winding shaft. A full turn is the portion of the drive belt wound 360° on the winding shaft. When the end of the drive belt is located at the zero-point sensor, the bearing assembly is in its highest position. 当 When the winding shaft rotates by an angle θ to unwind, the cross-sectional area of ​​the drive belt wound on the winding shaft and the winding shaft can be understood as 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 θ (the change in the cross-sectional area of ​​the drive belt); S 整 S represents the rounded full-turn portion of the drive belt wound on the winding shaft after the shaft rotates by an angle θ, and the cross-sectional area of ​​the winding shaft; 缺 This represents the cross-sectional area of ​​the drive belt with the missing arc portion.

[0060] The real-time position of the end 351 of the drive belt reflects the real-time height difference between the end of the drive belt and the zero-point sensor. Therefore, the real-time height of the end of the drive belt can be determined based on the actual height of the zero-point sensor and the real-time position of the end of the drive belt. Furthermore, based on the real-time height of the end of the drive belt and the height difference between the end of the drive belt and the track surface of the lifting rail of the supporting component, the real-time height of the track surface of the lifting rail can be accurately determined, thereby achieving precise control of the position of the track surface of the lifting rail. Moreover, when the lifting rail needs to be lowered to near the ground to be pushed into the transport vehicle, the material-picking height difference between the end 351 of the drive belt and the zero-point sensor when the track surface of the lifting rail is at the target low height can be predetermined. Substituting this material-picking height difference into the above formula, the angle required for the unwinding of the winding shaft can be calculated. Then, rotating the winding shaft by the required rotation angle will bring the track surface of the lifting rail to the target low height.

[0061] Correspondingly, as shown in the appendix Figure 7 As shown, when it is necessary to move the load-bearing component upwards to align the lifting track with the fixed track, the load-bearing component lifting control method further includes the following steps:

[0062] The hoisting mechanism 300 is controlled to drive the supporting assembly 100 to lift upwards. During the upward movement of the supporting assembly 100, it is determined in real time whether the first detection sensor 370 at the hoisting mechanism 300 detects the trigger plate 140.

[0063] When the first detection sensor 370 detects the trigger plate 140, the hoisting mechanism 300 drives the bearing assembly 100 to continue moving upward a target distance; the target distance can be set as needed and is not limited here.

[0064] After the hoisting mechanism 300 drives the carrying component 100 to continue moving upward a target distance, the track surface of the lifting rail 110 is at the target height and higher than the track surface of the fixed rail 210. At this time, the hoisting mechanism 300 is controlled to drive the carrying component 100 to slowly move downward so that the track surface of the lifting rail 110 slowly moves down from the target height to a position flush with and connected to the track surface of the fixed rail 210. The downward speed of the carrying component 100 can be set as needed and is not limited here.

[0065] The hoisting mechanism 300 causes the lifting track to move down by a first height difference D3. The first height difference D3 is the height difference between the target height and the track surface of the fixed track 210. The first height difference D3 can be predetermined and stored in the memory for later retrieval.

[0066] Furthermore, the first real-time position of the end of the drive belt when the track surface of the lifting track 110 is at the target height can be recorded and stored in advance. Therefore, when the hoisting mechanism 300 drives the bearing component 100 to move downwards, if it is determined that the distance the end of the drive belt continues to move downwards is equal to the first height difference D3, then the lifting track is determined to have moved to the correct position. Alternatively, the angle of rotation required for the winding shaft to continue unwinding can be determined based on the first height difference D3. When the winding shaft rotates to the required angle during unwinding, the winding shaft is stopped, and at this point, the lifting track is determined to have moved to the correct position. The angle of rotation of the winding shaft at this time can be recorded, and subsequently, this can be used to determine the angle of rotation required for the winding shaft to continue unwinding when the track surface of the lifting track moves from a position flush with the track surface of the fixed track to the target low height.

[0067] Furthermore, before the first detection sensor 370 detects the trigger plate 140, the hoisting mechanism 300 drives the bearing 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 bearing assembly 100 to move upward at a second speed less than the first speed by the target distance. The first and second speeds can be designed as needed and are not limited here. This can effectively ensure improved efficiency and effectively avoid the problem of the bearing assembly 100 overshooting due to inertia caused by excessive upward movement speed.

[0068] Furthermore, a second detection sensor 390 is provided on the hoisting mechanism 300, 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 carrying assembly 100 continues to move upwards to the target distance, if the second detection sensor 390 detects the trigger plate 140, it issues an alarm and stops the drive motor or controls the drive motor to drive the carrying assembly 100 downwards, thereby minimizing the risk of equipment safety problems in abnormal situations.

[0069] When the bearing assembly 100 moves up to the target distance and begins to move down, the horizontal pins 510 of each of the horizontal pin mechanisms 500 move toward the guide sleeves 150 that match them on the bearing assembly 100 until they are inserted into the guide sleeves 150 that match them.

[0070] Further details are attached. Figure 8As shown, during the period from when the horizontal pin 510 begins to move toward the guide sleeve 150 that matches it until 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 bearing assembly 100 and the distance that needs to be moved downward.

[0071] When the horizontal pin 510 moves to the critical position, the horizontal pin 510 is inserted into the guide sleeve in high-speed mode; in high-speed mode, the moving speed of the horizontal pin 510 can be set as needed, which will not be elaborated here.

[0072] At the critical position, the maximum diameter end of the tapered section of the horizontal pin 510 is flush with the end face of the guide sleeve facing the horizontal pin mechanism 500.

[0073] To ensure the synchronization of the extension of the horizontal pin 510 and the downward movement of the lifting rail 110, during the descent of the lifting rail 110 from the target height to the bearing surface of the fixed rail, the ratio of the distance from the lifting rail surface to the target height to the distance between the maximum diameter end of the tapered section of the horizontal pin 510 at the real-time position and the retracted position during the extension process must remain equal to D3 / D4, where D4 is the horizontal distance between the maximum diameter end of the tapered section of the horizontal pin 510 at the retracted position and the critical position. For example, if the height difference D3 between the target height and the bearing surface of the fixed rail 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, then when the lifting rail surface 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.

[0074] Of course, in another embodiment, after the lifting track has moved down to its position and stopped, the horizontal pin of the horizontal pin mechanism can extend and insert into the guide sleeve.

[0075] Example 2

[0076] In the above embodiment 1, the hoisting mechanism is used to move the load-bearing component up and down to realize the transfer of the transport vehicle. Of course, in other embodiments, the hoisting mechanism can also be used for lifting other materials. In this case, the load-bearing component or the fixing component may not be required.

[0077] Correspondingly, the hoisting mechanism control method determines the real-time position of the end of the drive belt by determining the change in the cross-sectional area of ​​the drive belt wound on the winding shaft of the hoisting mechanism when controlling the hoisting mechanism to work.

[0078] Example 3

[0079] This embodiment discloses a lifting control device, including a memory and a processor. The memory stores a program that can be processed by the processor. When the program is executed, it implements the lifting control method of the load-bearing component or the hoisting mechanism control method of the above embodiment.

[0080] This invention has many other embodiments, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of this invention.

Claims

1. A method for controlling the lifting and lowering of a load-bearing component, wherein a hoisting mechanism is used to drive the load-bearing component to lift and lower to adjust the height of the load-bearing component, the hoisting mechanism comprising a set of drive belts, the ends of the set of drive belts being at the same height and lifting and lowering synchronously, characterized in that: When controlling the operation of the hoisting mechanism, the real-time position of the end of the drive belt is determined by measuring the change in the cross-sectional area of ​​the drive belt wound on the winding shaft of the hoisting mechanism. When controlling the hoisting mechanism to drive the lifting rail of the bearing assembly to dock with the fixed rail, the following steps are performed: The hoisting mechanism is controlled to drive the load-bearing assembly to lift upwards; When 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 moving upward a target distance until the track surface of the lifting track is at the target height and higher than the track surface of the fixed track. After the hoisting mechanism drives the bearing component to continue moving upward a target distance, the hoisting mechanism is controlled to drive the bearing component to move downward so that the track surface of the lifting track is flush with the track surface of the fixed track. A horizontal pin mechanism is provided at the fixed track, and a guide sleeve matching the horizontal pin mechanism is provided at the bearing component; the insertion hole of the guide sleeve is an oblong hole extending in the vertical direction. When the lifting track stops moving downward, the horizontal pin abuts against the top of the socket; During the process of lowering the track surface of the lifting track from the target height to the bearing surface of the fixed track, the ratio of the distance from the track surface of the lifting track to the target height to the distance between the maximum diameter end of the tapered section of the horizontal pin at the real-time position and the retracted position during the extension process remains equal to D3 / D4, where D3 is the height difference between the target height and the track surface of the fixed track, and D4 is the horizontal distance between the maximum diameter end of the tapered section of the horizontal pin at the retracted position and the critical position. At the critical position, the maximum diameter end of the tapered section of the horizontal pin is flush with the end face of the guide sleeve facing the horizontal pin mechanism.

2. The lifting control method for the bearing component 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; Where H is the real-time position of the end of the drive belt, e is the radius of the cross-section of the drive belt and the entire full loop portion of the drive belt wound on the winding shaft when the end of the drive belt is at the zero point sensor; ⌊⌋ indicates rounding down; θ is the angle of unwinding rotation of the winding shaft; d is the thickness of the drive belt; mod indicates the remainder.

3. The lifting control method for the bearing component according to claim 1, characterized in that: Before the first detection sensor detects the trigger plate, the hoisting mechanism drives the carrying assembly to move upward at a first speed. 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 less than the first speed.

4. The lifting control method for the bearing component according to claim 1, characterized in that: The hoisting mechanism is equipped with a second detection sensor located above the first detection sensor. If the second detection sensor detects the trigger plate at any time before the bearing assembly continues to move upward to the target distance, it will issue an alarm and stop the drive motor of the hoisting mechanism or control the drive motor to drive the bearing assembly downward.

5. The lifting control method for the bearing component according to any one of claims 1-4, characterized in that: During the period from the start of the horizontal pin moving toward the guide sleeve to the point where the horizontal pin moves to the critical position, the horizontal pin moves toward the guide sleeve in a low-speed mode. When the horizontal pin moves to the critical position, the horizontal pin is inserted into the guide sleeve in a high-speed mode.

6. A track 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, it implements the lifting control method for the bearing component as described in any one of claims 1-5.

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