Method and device for calculating height of lifting hook for hoisting machinery and hoisting machinery

Abstract

The invention discloses a lifting hook height calculation method and device for hoisting machinery and the hoisting machinery. The lifting hook height calculation method comprises the steps that initial parameters and current parameters are obtained, the initial parameters comprise the number of initial full circle layers and the number of initial outer layer circles, and the current parameters comprise the number of initial full circle layers and the number of initial outer layer circles; the current parameters comprise the current effective number of revolutions of rotation of the winding drum in the unwinding direction and the current number of rope winding layers of the lifting rope on the winding drum; according to the initial parameter, the current parameter, the number of single-layer full circles, the diameter of the winding drum and the diameter of the lifting rope, the length of the lifting rope currently released by the winding drum is determined; the real-time height of the lifting hook is determined according to the length of the lifting rope currently released by the winding drum, the preset initial height of the lifting hook at the initial position and the working multiplying power of the lifting hook, the real-time height of the lifting hook is calculated according to the length of the lifting rope currently released by the winding drum, the purpose of improving the accuracy of the real-time height of the lifting hook can be achieved, user troubles are eliminated, and user experience is improved. And the use safety of equipment is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of lifting machinery, and in particular relates to a method and a device for calculating the height of a hook used in a lifting machinery, and the lifting machinery. Background Art

[0002] The real-time height of the hook is a conventional display data in the tower crane parameter system. The current calculation method of the real-time height of the hook in the industry is as follows: take a certain calibration point as the reference position (usually the upper stop point). When the hook moves, the system roughly calculates the length of the drum to release or retract the rope according to the actual number of turns accumulated by the drum and the diameter of the middle layer of wire rope on the drum, and calculates the real-time height position of the hook according to the ratio relationship. However, due to the difference in the diameter of the wire rope wound on each layer, the accuracy of the calculated real-time height data of the hook is affected, resulting in certain safety hazards in use and causing trouble to users. Summary of the invention

[0003] In view of the above-mentioned defects or shortcomings, the present invention provides a method for calculating the hook height for a lifting machinery, a calculation device and a lifting machinery, aiming to solve the technical problem that the existing method for calculating the real-time height of the hook is not accurate enough.

[0004] To achieve the above object, the present invention provides a method for calculating the height of a hook for a lifting machinery in a first aspect, wherein the method for calculating the height of a hook for a lifting machinery comprises:

[0005] Obtaining starting parameters and current parameters, wherein the starting parameters include the starting full turns of the hoisting rope wound on the drum when the hook is in the starting position and the starting outer turns at the outermost layer, and the current parameters include the current effective number of revolutions of the drum in the release direction and the current number of rope layers of the hoisting rope on the drum;

[0006] Determine the length of the hoisting rope currently released by the drum according to the starting parameters, current parameters, the number of full turns of a single layer, the drum diameter and the hoisting rope diameter;

[0007] The real-time height of the hook is determined according to the length of the lifting rope currently released by the drum, the preset starting height of the hook at the starting position and the working multiple of the hook.

[0008] In one embodiment of the present invention, determining the length of the lifting rope currently released by the drum according to the starting parameters, the current parameters, the number of full turns of a single layer, the drum diameter and the lifting rope diameter includes:

[0009] The first calculation formula for obtaining the length of the lifting rope currently released by the drum is:

[0010] L1 = πqD0 + πd0[2qn + (2n' - 2n - 1)q + 2k(1 + n - n')Z1 + (n - n')(n - n' + 1)Z0],

[0011] In the formula, L1 represents the length of the hoisting rope currently released by the drum, n represents the number of starting full layers, Z1 represents the number of starting outer layers, q represents the current effective number of revolutions, n' represents the current number of rope winding layers, Z0 represents the number of single-layer full circles, D0 represents the drum diameter, d0 represents the hoisting rope diameter, and k represents the coefficient of the starting outer layer number. When Z1 = Z0, k = 0; when Z1 < Z0, k = 1;

[0012] Substitute the number of starting full layers, the number of starting outer layers, the current effective number of revolutions, the current number of rope winding layers, the number of single-layer full circles, the drum diameter, and the hoisting rope diameter into the first calculation formula to calculate the length of the hoisting rope currently released by the drum.

[0013] In an embodiment of the present invention, before obtaining the starting parameters and the current parameters, it further includes:

[0014] Determine the current number of rope winding layers according to the number of single-layer full circles, the number of starting full layers, the number of starting outer layers, and the current effective number of revolutions.

[0015] In an embodiment of the present invention, determining the current number of rope winding layers according to the number of single-layer full circles, the number of starting full layers, the number of starting outer layers, and the current effective number of revolutions includes:

[0016] In the case where the number of starting outer layers is equal to the number of single-layer full circles, if the ratio of the current effective number of revolutions to the number of starting outer layers is less than 1, determine that the current number of rope winding layers n' = n; if the ratio of the current effective number of revolutions to the number of starting outer layers is greater than 1, determine that the current number of rope winding layers n' = n - int(q / Z0);

[0017] In the case where the number of starting outer layers is less than the number of single-layer full circles, if the ratio of the current effective number of revolutions to the number of starting outer layers is less than 1, determine that the current number of rope winding layers n' = n + 1; if the ratio of the current effective number of revolutions to the number of starting outer layers is greater than 1, determine that the current number of rope winding layers n' = n - int((q - Z1) / Z0).

[0018] In an embodiment of the present invention, before obtaining the starting parameters and the current parameters, it further includes:

[0019] Obtain the original parameters, where the original parameters include the total length of the hoisting rope, the extended winding length of the hoisting rope from the rope outlet tangent point of the drum to the fixing device when the hook is at the starting position, the number of single-layer full circles of the hoisting rope on the drum, the drum diameter, and the hoisting rope diameter;

[0020] Determine the number of starting full layers and the number of starting outer layers in the starting parameters according to the original parameters.

[0021] In one embodiment of the present invention, determining the starting full circle number and the starting outer circle number in the starting parameters according to the original parameters includes:

[0022] Under the assumption that the number of initial outer turns is 0, the total number of initial layers of the hoisting rope wound on the drum when the hook is in the initial position is calculated according to the original parameters;

[0023] When it is determined that the starting total number of layers is a positive integer, the starting full circle number is equal to the starting total number of layers, and the starting outer circle number is equal to 0;

[0024] When it is determined that the starting total number of layers is not a positive integer, the starting full circle number n=int(x) and the starting outer circle number Z1=[L 总 -(πZ0d0n 2 +πZ0D0n+L0)] / π[D0+(2n+1)d0], where x represents the total number of starting layers, L 总 It is expressed as the total length of the lifting rope, L0 is expressed as the extended rope length, Z0 is expressed as the number of full circles of a single layer, D0 is expressed as the drum diameter, and d0 is expressed as the diameter of the lifting rope.

[0025] In one embodiment of the present invention, when the number of initial outer layer turns is assumed to be 0, the initial total number of layers of the hoisting rope wound on the drum when the hook is at the initial position is calculated according to the original parameters, including:

[0026] The second calculation formula for the total length of the lifting rope is obtained, wherein the second calculation formula is:

[0027] L 总 -(πZ0d0x 2 +πZ0D0x+L0)-Z1π[D0+(2x+1)d0]=0,

[0028] In the formula, x represents the total number of starting layers, L 总 It is expressed as the total length of the hoisting rope, L0 is the length of the rope stretched out, Z0 is the number of full turns of a single layer, D0 is the diameter of the drum, and d0 is the diameter of the hoisting rope;

[0029] When the number of initial outer layers is assumed to be 0, the original parameters are substituted into the second calculation formula to calculate the total number of initial layers.

[0030] In one embodiment of the present invention, determining the real-time height of the hook according to the length of the hoisting rope currently released by the drum, the preset starting height of the hook at the starting position, and the working ratio of the hook includes:

[0031] A third calculation formula for obtaining the real-time height of the hook is:

[0032] H1=H0-(L1 / f),

[0033] Where H1 represents the real-time height of the hook, H0 represents the preset starting height of the hook at the starting position, L1 represents the length of the lifting rope currently released by the drum, and f represents the working ratio of the hook;

[0034] The length of the lifting rope currently released by the drum, the preset starting height and the working ratio of the hook are substituted into the third calculation formula to calculate the real-time height of the hook.

[0035] In one embodiment of the present invention, the method for calculating the hook height of a lifting machinery further includes:

[0036] The motor end encoder or the limiter end encoder of the reel is used to count the current effective number of revolutions.

[0037] To achieve the above object, the second aspect of the present invention provides a calculation device, wherein the calculation device is configured to execute the method for calculating the hook height for a lifting machinery according to the above.

[0038] To achieve the above objective, the third aspect of the present invention provides a lifting machinery, wherein the lifting machinery comprises the computing device described above.

[0039] Through the above technical solution, the method for calculating the hook height of a lifting machinery provided by the present invention has the following beneficial effects:

[0040] When using the above-mentioned hook height calculation method, since the length of the lifting rope currently released by the drum is determined by the starting parameters, current parameters, the number of single-layer full circles, the drum diameter and the lifting rope diameter, and the starting parameters include not only the starting number of full circles, but also the starting number of outer circles, and the current parameters include the current effective number of revolutions of the drum in the releasing direction and the current number of rope layers of the lifting rope on the drum, when determining the length of the lifting rope currently released by the drum, both the number of layers of the lifting rope that changes on the drum and the number of circles of the lifting rope that changes on the drum can be taken into account, thereby ensuring the reliability of the lifting rope length currently released by the drum. At the same time, the real-time height of the hook is calculated based on the length of the lifting rope currently released by the drum, thereby achieving the purpose of improving the accuracy of the real-time height of the hook, eliminating user troubles and improving the safety of equipment use.

[0041] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative work. In the accompanying drawings:

[0043] Figure 1 is a flow chart of a method for calculating the hook height of a lifting machinery according to one embodiment of the present invention;

[0044] Figure 2 is a diagram of a rope winding structure of a hoisting rope on a drum according to an embodiment of the present invention;

[0045] Figure 3 is a structural diagram of a hook lifting system according to one embodiment of the present invention.

[0046] Description of reference numerals:

[0047] 1 drum 2 lifting rope

[0048] 3 Balance arm roller 4 Lifting weight limiter pulley

[0049] 5. Lifting pulley at the base of the crane arm 6. Trolley pulley

[0050] 7 Auxiliary hook pulley 8 Main trolley pulley

[0051] 9 Main hook pulley 10 Fixing device DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0053] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0054] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is 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 the present invention.

[0055] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] The following describes a method for calculating the hook height for a lifting machinery, a calculation device, and a lifting machinery of the present invention with reference to the accompanying drawings.

[0057] like Figures 1 to 3 As shown, the present invention provides a method for calculating the height of a hook for a lifting machinery, wherein the method for calculating the height of a hook for a lifting machinery comprises:

[0058] Step S100, obtaining starting parameters and current parameters, wherein the starting parameters include the starting number of full circles of the lifting rope 2 wound on the drum 1 when the hook is in the starting position and the starting number of outer circles in the outermost layer, and the current parameters include the current effective number of revolutions of the drum 1 in the releasing direction and the current number of rope layers of the lifting rope 2 on the drum 1.

[0059] It can be understood that the starting parameters can be set to the parameters of the entire hook lifting system when the hook is in the starting position, the current parameters can be set to the parameters of the entire hook lifting system when the hook is in the current position, and the starting position of the hook can be defined as including but not limited to the upper stop point position of the hook.

[0060] Specifically, the starting parameters also include the starting total number of layers of the lifting rope 2 wound on the drum 1 when the hook is in the starting position. The starting total number of layers is represented by x, and the starting number of full circles is represented by n. There are two cases, x=n or x=n+1, and these two cases can be determined according to the starting number of outer circles.

[0061] Step S200, determining the length of the lifting rope currently released by the drum 1 according to the starting parameters, current parameters, the number of full turns of a single layer, the drum diameter and the lifting rope diameter.

[0062] It can be understood that the number of single-layer full turns, drum diameter and lifting rope diameter are all original parameters and can be pre-stored and called when needed. The number of single-layer full turns of each layer is generally set to be consistent. On the one hand, the calculation formula can be constructed using the starting parameters, current parameters, single-layer full turns, drum diameter and lifting rope diameter. Substituting the corresponding parameters into the calculation formula can obtain the length of the lifting rope currently released by the drum 1. On the other hand, the current number of outer turns of the lifting rope 2 on the drum 1 can be determined first. The current number of outer turns also belongs to the current parameter, which can be specifically the number of rope turns of the lifting rope 2 on the outermost layer of the drum 1 when the hook is in the current position. The length of the lifting rope currently released by the drum 1 can be searched in a chart or table pre-established with the current number of rope winding layers and the current number of outer turns as variables to determine the length of the lifting rope currently released by the drum 1.

[0063] Step S300, determining the real-time height of the hook according to the length of the lifting rope currently released by the drum 1, the preset starting height of the hook at the starting position, and the working ratio of the hook.

[0064] When using the above-mentioned hook height calculation method, since the length of the lifting rope currently released by the drum 1 is determined by the starting parameters, current parameters, the number of single-layer full circles, the drum diameter and the lifting rope diameter, and the starting parameters include not only the starting number of full circles, but also the starting number of outer circles, and the current parameters include the current effective number of revolutions of the drum 1 in the releasing direction and the current number of rope layers of the lifting rope 2 on the drum 1, when determining the length of the lifting rope currently released by the drum 1, both the number of layers of the lifting rope 2 that has changed on the drum 1 and the number of circles of the lifting rope 2 that has changed on the drum 1 can be taken into account, thereby ensuring the reliability of the length of the lifting rope currently released by the drum 1. At the same time, the real-time height of the hook is calculated based on the length of the lifting rope currently released by the drum 1, thereby achieving the purpose of improving the accuracy of the real-time height of the hook, eliminating user troubles and improving the safety of equipment use.

[0065] In one embodiment of the present invention, step S200, determining the length of the lifting rope currently released by the drum 1 according to the starting parameters, the current parameters, the number of full turns of a single layer, the drum diameter and the lifting rope diameter includes:

[0066] Obtain a first calculation formula for the length of the lifting rope currently released by the drum 1, wherein the first calculation formula is:

[0067] L1 = πqD0 + πd0[2qn + (2n' - 2n - 1)q + 2k(1 + n - n')Z1 + (n - n')(n - n' + 1)Z0],

[0068] In the formula, L1 represents the length of the hoisting rope currently released by the drum 1, n represents the starting full - layer number, Z1 represents the starting outer - layer number of turns, q represents the current effective number of revolutions, n' represents the current number of winding layers of the rope, Z0 represents the number of turns of a single - layer full - circle, D0 represents the diameter of the drum, d0 represents the diameter of the hoisting rope, and k represents the coefficient of the starting outer - layer number of turns. When Z1 = Z0, k = 0; when Z1 < Z0, k = 1;

[0069] Substitute the starting full - layer number, starting outer - layer number of turns, current effective number of revolutions, current number of winding layers of the rope, number of turns of a single - layer full - circle, diameter of the drum, and diameter of the hoisting rope into the first calculation formula to calculate the length of the hoisting rope currently released by the drum 1.

[0070] Furthermore, by adopting the method of pre - constructing the calculation formula to determine the length of the hoisting rope currently released by the drum 1, compared with querying charts or tables, it can significantly improve the operation efficiency and operation accuracy. Specifically, the first calculation formula includes a first algebraic expression constructed with the drum diameter: πqD0, and a second algebraic expression constructed with the hoisting - rope diameter: πd0[2qn + (2n' - 2n - 1)q + 2(1 + n - n')Z1 + (n - n')(n - n' + 1)Z0], thus making the construction of the first calculation formula more reasonable.

[0071] In an embodiment of the present invention, before step S100 of obtaining the starting parameters and current parameters, it further includes:

[0072] Determine the current number of winding layers of the rope according to the number of turns of a single - layer full - circle, starting full - layer number, starting outer - layer number of turns, and current effective number of revolutions.

[0073] Specifically, according to the starting full - layer number and starting outer - layer number of turns, the end position of the hoisting rope 2 wound around the drum 1 when the hook is at the starting position can be determined. The number of winding turns of the hoisting rope 2 released on the drum 1 is equal to the current effective number of revolutions of the drum 1. Then, when the number of turns of a single - layer full - circle is clearly known, the current number of winding layers can be automatically calculated.

[0074] In an embodiment of the present invention, determining the current number of winding layers of the rope according to the number of turns of a single - layer full - circle, starting full - layer number, starting outer - layer number of turns, and current effective number of revolutions includes:

[0075] When the starting outer - layer number of turns is equal to the number of turns of a single - layer full - circle, if the ratio of the current effective number of revolutions to the starting outer - layer number of turns is less than 1, determine the current number of winding layers n' = n; if the ratio of the current effective number of revolutions to the starting outer - layer number of turns is greater than 1, determine the current number of winding layers n' = n - int(q / Z0);

[0076] When the starting number of outer turns is less than the number of single-layer full turns, if the ratio of the current effective number of revolutions to the starting number of outer turns is less than 1, the current number of rope winding layers n'=n+1 is determined; if the ratio of the current effective number of revolutions to the starting number of outer turns is greater than 1, the current number of rope winding layers n'=n-int((q-Z1) / Z0) is determined.

[0077] Specifically, the current number of rope winding layers is determined by first performing conditional judgment and establishing the relationship between the current number of rope winding layers and the starting number of full turns under different conditions, so that the current number of rope winding layers does not need to establish a complex calculation formula, and the correctness can be determined without verification, and the construction idea is simple and effective. Of course, the present invention is not limited to this, and the current number of rope winding layers can also be determined by pre-constructing a calculation formula based on the number of single-layer full turns, the starting number of full turns, the starting number of outer turns, and the current effective number of revolutions.

[0078] Furthermore, the calculation of the current number of rope layers n' can be expressed as:

[0079] (1) When Z1=Z0, if q / Z1<1, n'=n; if q / Z1>1, n'=n-int(q / Z0).

[0080] (2) When Z1<Z0, if q / Z1<1, n'=n+1; if q / Z1>1, n'=n-int((q-Z1) / Z0).

[0081] It should be noted that the int mentioned in the present invention is rounded down.

[0082] In an embodiment of the present invention, before step S100, obtaining the starting parameters and the current parameters, the method further includes:

[0083] Obtaining original parameters, wherein the original parameters include the total length of the hoisting rope, the rope length of the hoisting rope 2 extending from the rope tangent point of the drum 1 to the fixing device when the hook is at the starting position, the number of single-layer full turns of the hoisting rope 2 on the drum 1, the drum diameter and the hoisting rope diameter;

[0084] The starting full circle number and the starting outer circle number in the starting parameters are determined according to the original parameters.

[0085] It is understandable that the starting full circle number and the starting outer circle number in the starting parameters can be automatically determined according to the original parameters, which is obviously more reliable and accurate than being obtained by observation and manually input by the operator. Of course, the present invention is not limited to this, and the starting full circle number and the starting outer circle number can also be manually input by the operator.

[0086] Specifically, Figure 3As shown, the hook lifting system includes a drum 1, a lifting rope 2, a balance arm roller 3, a lifting weight limiter pulley 4, a lifting pulley at the root of the boom 5, an auxiliary trolley pulley 6, an auxiliary hook pulley 7, a main trolley pulley 8, a main hook pulley 9, a fixing device 10 and a hook. The extended rope length L0 is the lifting rope 2 extending from the rope tangent point of the drum 1, passing through the lifting balance arm roller 3, the lifting weight limiter pulley 4, the lifting pulley at the root of the boom 5, the auxiliary trolley pulley 6, the auxiliary hook pulley 7, the main trolley pulley 8, and the main hook pulley 9, until it is connected to the fixing device 10. The fixing device 10 can be set as an anti-twisting device on the arm tip.

[0087] In one embodiment of the present invention, determining the starting full circle number and the starting outer circle number in the starting parameters according to the original parameters includes:

[0088] Under the assumption that the number of initial outer turns is 0, the initial total number of layers of the hoisting rope 2 wound on the drum 1 when the hook is in the initial position is calculated according to the original parameters;

[0089] When it is determined that the starting total number of layers is a positive integer, the starting full circle number is equal to the starting total number of layers, and the starting outer circle number is equal to 0;

[0090] When it is determined that the starting total number of layers is not a positive integer, the starting full circle number n=int(x) and the starting outer circle number Z1=[L 总 -(πZ0d0n 2 +πZ0D0n+L0)] / π[D0+(2n+1)d0], where x represents the total number of starting layers, L 总 It is expressed as the total length of the lifting rope, L0 is expressed as the extended rope length, Z0 is expressed as the number of full circles of a single layer, D0 is expressed as the drum diameter, and d0 is expressed as the diameter of the lifting rope.

[0091] In this embodiment, by assuming that the starting number of outer turns is 0, the second calculation formula constructed to calculate the total length of the lifting rope can be simplified so that the only unknown quantity in the second calculation formula is the starting total number of layers x, thereby calculating the starting total number of layers x. If x is a positive integer, it indicates that the assumption is established, that is, the starting number of outer turns is 0, and the starting number of full turns is consistent with the calculated starting total number of layers; if x is not a positive integer, it indicates that the assumption is not established, but since the outermost rope length contributes less to the total length of the lifting rope, the value obtained by rounding down x should be the starting number of full turns, and substituting x=n+1 into the second calculation formula constructed by the total length of the lifting rope should be able to calculate the starting number of outer turns at this time. Therefore, based on the relationship between the starting total number of layers and the starting full turn number and the starting number of outer turns, the starting full turn number and the starting number of outer turns can be quickly and conveniently deduced through the assumption idea.

[0092] In one embodiment of the present invention, assuming that the number of initial outer layer turns is 0, the initial total number of layers of the hoisting rope 2 wound on the drum 1 when the hook is at the initial position is calculated according to the original parameters, including:

[0093] The second calculation formula for the total length of the lifting rope is obtained, wherein the second calculation formula is:

[0094] L 总 -(πZ0d0x 2 +πZ0D0x+L0)-Z1π[D0+(2x+1)d0]=0,

[0095] In the formula, x represents the total number of starting layers, L 总 It is expressed as the total length of the hoisting rope, L0 is the length of the rope stretched out, Z0 is the number of full turns of a single layer, D0 is the diameter of the drum, and d0 is the diameter of the hoisting rope;

[0096] When the number of initial outer layers is assumed to be 0, the original parameters are substituted into the second calculation formula to calculate the total number of initial layers.

[0097] It can be understood that the second calculation formula can be constructed by calculating the total length of the lifting rope using the original parameters, and assuming that the number of initial outer turns is 0, the second calculation formula can be converted to: L 总 -(πZ0d0x 2 +πZ0D0x+L0)=0, from which the total number of starting layers can be calculated to verify the accuracy of the assumption.

[0098] In one embodiment of the present invention, step S300, determining the real-time height of the hook according to the length of the lifting rope currently released by the drum 1, the preset starting height of the hook at the starting position, and the working ratio of the hook includes:

[0099] A third calculation formula for obtaining the real-time height of the hook is:

[0100] H1=H0-(L1 / f),

[0101] Wherein, H1 represents the real-time height of the hook, H0 represents the preset starting height of the hook at the starting position, L1 represents the length of the lifting rope currently released by the drum 1, and f represents the working ratio of the hook;

[0102] The length of the lifting rope currently released by the drum 1, the preset starting height and the working ratio of the hook are substituted into the third calculation formula to calculate the real-time height of the hook.

[0103] Specifically, by constructing the third calculation formula for the real-time height of the hook, it is possible to obviously improve the calculation efficiency and accuracy.

[0104] In one embodiment of the present invention, the method for calculating the hook height of a lifting machinery further includes:

[0105] The motor end encoder or the limiter end encoder of the reel 1 is used to count the current effective number of revolutions.

[0106] It can be understood that the reel 1 is rotatably arranged, and one end is set as a motor end, and the other end is set as a limiter end. Therefore, whether an encoder is set at the motor end or the limiter end, the current effective number of revolutions of the reel 1 can be detected.

[0107] It can be seen from this that the present invention can accurately calculate the length of the lifting rope released by the multi-layer rope winding drum and the real-time height data of the hook, solve the problem that the hook height display data does not match the actual height, eliminate user troubles, and improve the safety of equipment use.

[0108] In addition, the present invention further provides a calculation device, wherein the calculation device is configured to execute the method for calculating the hook height of a lifting machinery described above. Since the calculation device adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0109] In addition, the present invention provides a lifting machine, wherein the lifting machine comprises the computing device described above. Since the lifting machine adopts all the technical solutions of the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0110] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0112] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0113] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0114] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0115] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0116] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0117] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0118] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A method for calculating the hook height of a lifting machinery, characterized in that: The method for calculating the hook height of a hoisting machine includes: Obtaining starting parameters and current parameters, where the starting parameters include the starting full-layer turns of the hoisting rope wound on the drum when the hook is in the starting position and the starting outer-layer turns of the outermost layer, and the current parameters include the current effective revolutions of the drum rotating in the payout direction and the current winding layers of the hoisting rope on the drum; Determining the length of the hoisting rope released by the drum according to the starting parameters, current parameters, full turns of a single layer, drum diameter, and hoisting rope diameter; Determining the real-time height of the hook according to the length of the hoisting rope released by the drum, the preset starting height of the hook at the starting position, and the working ratio of the hook.

2. The method for calculating the hook height of a lifting machinery according to claim 1, characterized in that: The determining the length of the hoisting rope released by the drum according to the starting parameters, current parameters, full turns of a single layer, drum diameter, and hoisting rope diameter includes: Obtaining a first calculation formula for the length of the hoisting rope released by the drum, where the first calculation formula is: L1 = πqD0 + πd0[2qn + (2n' - 2n - 1)q + 2k(1 + n - n')Z1 + (n - n')(n - n' + 1)Z0], In the formula, L1 represents the length of the hoisting rope released by the drum, n represents the starting full-layer turns, Z1 represents the starting outer-layer turns, q represents the current effective revolutions, n' represents the current winding layers, Z0 represents the full turns of a single layer, D0 represents the drum diameter, d0 represents the hoisting rope diameter, k represents the starting outer-layer turns coefficient, when Z1 = Z0, k = 0, when Z1 < Z0, k = 1; Substituting the starting full-layer turns, starting outer-layer turns, current effective revolutions, current winding layers, full turns of a single layer, drum diameter, and hoisting rope diameter into the first calculation formula to calculate the length of the hoisting rope released by the drum.

3. The method for calculating the hook height of a lifting machinery according to claim 2, characterized in that: Before obtaining the starting parameters and current parameters, it also includes: Determining the current winding layers according to the full turns of a single layer, starting full-layer turns, starting outer-layer turns, and current effective revolutions.

4. The method for calculating the hook height of a lifting machinery according to claim 3, characterized in that: The determining the current winding layers according to the full turns of a single layer, starting full-layer turns, starting outer-layer turns, and current effective revolutions includes: In the case where the starting outer-layer turns are equal to the full turns of a single layer, if the ratio of the current effective revolutions to the starting outer-layer turns is less than 1, determining the current winding layers n' = n, if the ratio of the current effective revolutions to the starting outer-layer turns is greater than 1, determining the current winding layers n' = n - int(q / Z0); In the case where the starting outer-layer turns are less than the full turns of a single layer, if the ratio of the current effective revolutions to the starting outer-layer turns is less than 1, determining the current winding layers n' = n + 1, if the ratio of the current effective revolutions to the starting outer-layer turns is greater than 1, determining the current winding layers n' = n - int((q - Z1) / Z0).

5. The method for calculating the hook height of a lifting machinery according to claim 2, characterized in that: Before obtaining the starting parameters and current parameters, it also includes: Obtaining original parameters, where the original parameters include the total length of the hoisting rope, the extended winding length of the hoisting rope from the rope outlet tangent point of the drum to the fixing device when the hook is in the starting position, the full turns of a single layer of the hoisting rope on the drum, the drum diameter, and the hoisting rope diameter; The starting full circle number and the starting outer circle number in the starting parameters are determined according to the original parameters.

6. The method for calculating the hook height of a lifting machinery according to claim 5, characterized in that: Determining the starting full circle number and the starting outer circle number in the starting parameters according to the original parameters includes: Under the assumption that the number of initial outer turns is 0, the total number of initial layers of the hoisting rope wound on the drum when the hook is in the initial position is calculated according to the original parameters; When it is determined that the starting total number of layers is a positive integer, the starting full circle number is equal to the starting total number of layers, and the starting outer circle number is equal to 0; When it is determined that the starting total number of layers is not a positive integer, the starting full circle number n=int(x) and the starting outer circle number Z1=[L 总 -(πZ0d0n 2 +πZ0D0n+L0)] / π[D0+(2n+1)d0], where x represents the total number of starting layers, L 总 It is expressed as the total length of the lifting rope, L0 is expressed as the extended rope length, Z0 is expressed as the number of full circles of a single layer, D0 is expressed as the drum diameter, and d0 is expressed as the diameter of the lifting rope.

7. The method for calculating the hook height of a lifting machinery according to claim 6, characterized in that: The calculation of the total number of initial outer layer turns wound around the drum when the hook is at the initial position according to the original parameters, assuming that the initial number of outer layer turns is 0, includes: The second calculation formula for the total length of the lifting rope is obtained, wherein the second calculation formula is: L 总 -(πZ0d0x 2 +πZ0D0x+L0)-Z1π[D0+(2x+1)d0]=0, In the formula, x represents the total number of starting layers, L 总 It is expressed as the total length of the hoisting rope, L0 is the length of the rope stretched out, Z0 is the number of full turns of a single layer, D0 is the diameter of the drum, and d0 is the diameter of the hoisting rope; When the number of initial outer layers is assumed to be 0, the original parameters are substituted into the second calculation formula to calculate the total number of initial layers.

8. The method for calculating the hook height for a lifting machinery according to any one of claims 1 to 7, characterized in that: Determining the real-time height of the hook according to the length of the hoisting rope currently released by the drum, the preset starting height of the hook at the starting position, and the working ratio of the hook comprises: A third calculation formula for obtaining the real-time height of the hook is: H1=H0-(L1 / f), Where H1 represents the real-time height of the hook, H0 represents the preset starting height of the hook at the starting position, L1 represents the length of the lifting rope currently released by the drum, and f represents the working ratio of the hook; The length of the lifting rope currently released by the drum, the preset starting height and the working ratio of the hook are substituted into the third calculation formula to calculate the real-time height of the hook.

9. The method for calculating the hook height of a lifting machinery according to any one of claims 1 to 7, characterized in that: The method for calculating the hook height of a lifting machinery also includes: The motor end encoder or the limiter end encoder of the reel is used to count the current effective number of revolutions.

10. A computing device, characterized in that: The calculation device is configured to execute a method for calculating the hook height for a lifting machinery according to any one of claims 1 to 9.

11. A lifting machine, characterized in that: The lifting machine comprises a computing device according to claim 10.

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