Methods and devices for calculating the height of hooks used in lifting machinery, and lifting machinery itself.

Abstract

This invention discloses a method, a calculation device, and the lifting machinery for calculating the height of a lifting hook. The method for calculating the hook height includes: acquiring initial parameters and current parameters, wherein the initial parameters include the initial number of full turns and the initial number of outer turns, and the current parameters include the current effective number of rotations of the drum in the release direction and the current number of rope layers on the drum; determining the length of the lifting rope currently released by the drum based on the initial parameters, current parameters, the number of full turns per layer, the drum diameter, and the lifting rope diameter; determining the real-time height of the hook based on the current length of the lifting rope released by the drum, the preset initial height of the hook at the initial position, and the working ratio of the hook. The real-time height of the hook is calculated based on the current length of the lifting rope released by the drum, which can improve the accuracy of the real-time height of the hook, eliminate user confusion, and improve the safety of equipment use.

Description

Technical Field

[0001] This invention belongs to the field of lifting machinery technology, and particularly relates to a method, calculation device and lifting machinery for calculating the height of a hook. Background Technology

[0002] The real-time height of the hook is a standard display data in the tower crane parameter system. Currently, the industry standard for calculating the real-time hook height is as follows: Using a calibration point as a reference position (usually the upper stop point), when the hook moves, the system roughly calculates the unwinding or winding length of the rope based on the actual number of cumulative rotations of the drum and the diameter of the wire rope wound in the middle layer of the drum. Then, it calculates the real-time hook height position based on the ratio. However, because the diameters of the wire ropes wound in different layers vary, the accuracy of the calculated real-time hook height data is affected, leading to certain safety hazards during use and causing inconvenience to users. Summary of the Invention

[0003] To address the aforementioned deficiencies or shortcomings, this invention provides a method, calculation device, and lifting machinery for calculating the height of a hook, aiming to solve the technical problem of low accuracy in existing methods for calculating the real-time height of hooks.

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

[0005] Obtain the initial parameters and current parameters. The initial parameters include the initial full number of turns of the hoisting rope on the drum when the hook is in the initial position and the initial number of turns of the outermost layer. The current parameters include the current effective number of rotations of the drum in the release direction and the current number of rope layers on the drum.

[0006] The length of the hoisting rope currently being released from the drum is determined based on the initial parameters, current parameters, number of full turns in a single layer, drum diameter, and hoisting rope diameter.

[0007] The real-time height of the hook is determined based on the length of the hoisting rope currently being released from the drum, the preset starting height of the hook at the starting position, and the working ratio of the hook.

[0008] In one embodiment of the present invention, determining the length of the hoisting rope currently released from the drum based on the initial parameters, current parameters, number of full turns in a single layer, drum diameter, and hoisting rope diameter includes:

[0009] The first calculation formula for obtaining the length of the hoisting rope currently being released from the drum is as follows:

[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 starting full-layer number, Z1 represents the number of starting outer-layer turns, q represents the current effective rotation number, n' represents the current rope winding layer number, Z0 represents the number of single-layer full turns, D0 represents the drum diameter, d0 represents the hoisting rope diameter, and k represents the starting outer-layer turn coefficient. When Z1 = Z0, k = 0; when Z1 < Z0, k = 1;

[0012] Substitute the starting full-layer number, starting outer-layer turn number, current effective rotation number, current rope winding layer number, single-layer full turn number, drum diameter, and 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 current parameters, it further includes:

[0014] Determine the current rope winding layer number according to the single-layer full turn number, starting full-layer number, starting outer-layer turn number, and current effective rotation number.

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

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

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

[0018] In an embodiment of the present invention, before obtaining the starting parameters and 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 in the starting position, the number of single-layer full turns of the hoisting rope on the drum, the drum diameter, and the hoisting rope diameter;

[0020] Determine the starting full-layer number and starting outer-layer turn number in the starting parameters according to the original parameters.

[0021] In one embodiment of the present invention, determining the initial full-circle number and the initial outer-circle number in the initial parameters based on the original parameters includes:

[0022] Assuming the initial number of outer turns is 0, calculate the initial total number of layers of the hoisting rope wound on the drum when the hook is in the initial position, based on the original parameters.

[0023] If the initial total number of layers is a positive integer, the initial full circle number is equal to the initial total number of layers, and the initial outer circle number is equal to 0.

[0024] Given that the initial total number of layers is not a positive integer, determine the initial full-circle layer number n = int(x), and the initial outer circle number Z1 = [L 总 -(πZ0d0n 2 +πZ0D0n+L0)] / π[D0+(2n+1)d0], where x represents the initial total number of layers, L 总 L0 represents the total length of the hoisting rope, Z0 represents the length of the extended rope, D0 represents the number of full turns in a single layer, and d0 represents the diameter of the drum.

[0025] In one embodiment of the present invention, assuming the initial number of outer turns is 0, the initial total number of layers of the hoisting rope wound on the drum when the hook is in the initial position is calculated based on the original parameters, including:

[0026] A second formula for calculating the total length of the hoisting rope is provided, wherein the second formula is:

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

[0028] In the formula, x represents the initial total number of floors, and L 总 L0 represents the total length of the hoisting rope, Z0 represents the length of the extended rope, D0 represents the number of full turns in a single layer, and d0 represents the diameter of the drum and the hoisting rope.

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

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

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

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

[0033] In the formula, 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 hoisting rope currently released by the drum, and f represents the working ratio of the hook.

[0034] The real-time height of the hook is calculated by substituting the current length of the hoisting rope released from the drum, the preset starting height, and the working ratio of the hook into the third calculation formula.

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

[0036] The current effective revolutions are counted using an encoder at the motor end or an encoder at the limit switch end of the drum.

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

[0038] To achieve the above objectives, a third aspect of the present invention provides a lifting machine, wherein the lifting machine includes a computing device according to the above description.

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

[0040] When using the above-mentioned method for calculating hook height, the length of the hoisting rope currently being released from the drum is determined by the initial parameters, current parameters, number of full turns per layer, drum diameter, and hoisting rope diameter. The initial parameters include not only the initial number of full turns but also the initial number of outer turns. The current parameters include the current effective number of rotations of the drum in the release direction and the current number of rope layers on the drum. Therefore, when determining the length of the hoisting rope currently being released from the drum, both the number of layers and the number of turns of the hoisting rope on the drum can be considered, ensuring the reliability of the length of the hoisting rope currently being released from the drum. Simultaneously, the real-time hook height is calculated based on the current length of the hoisting rope released from the drum, thereby improving the accuracy of the real-time hook height, eliminating user concerns, and enhancing equipment safety.

[0041] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0042] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. Those skilled in the art can obtain other drawings based on the structures shown in these drawings without any inventive effort. In the drawings:

[0043] Figure 1 This is a flowchart of a method for calculating the height of a lifting hook for lifting machinery according to an embodiment of the present invention;

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

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

[0046] Explanation of reference numerals in the attached figures:

[0047] 1. Drum 2. Lifting rope

[0048] 3. Balance arm idler rollers; 4. Lifting capacity limiter pulleys

[0049] 5. Lifting pulley at the boom base; 6. Trolley pulley

[0050] 7. Auxiliary hook pulley; 8. Main trolley pulley

[0051] 9 Main hook pulley 10 Fixing device Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustrating and explaining the embodiments of the present invention and are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort 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 indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0054] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0055] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

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

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

[0058] Step S100: Obtain the initial parameters and current parameters. The initial parameters include the initial full number of turns of the hoisting rope 2 wound on the drum 1 when the hook is in the initial position and the initial number of turns of the outermost layer. The current parameters include the current effective number of rotations of the drum 1 in the release direction and the current number of rope layers of the hoisting rope 2 on the drum 1.

[0059] Understandably, the initial parameters can be set as the parameters of the entire hook lifting system when the hook is in the initial position, and the current parameters can be set as the parameters of the entire hook lifting system when the hook is in the current position. The initial position of the hook can be defined as including but not limited to the upper stopping point position of the hook.

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

[0061] Step S200: Determine the length of the hoisting rope currently released from drum 1 based on the initial parameters, current parameters, number of full turns in a single layer, drum diameter, and hoisting rope diameter.

[0062] Understandably, the number of full turns per layer, drum diameter, and hoisting rope diameter are all original parameters that can be pre-stored and recalled when needed. The number of full turns per layer is generally set to be consistent for each layer. On one hand, a calculation formula can be constructed using the initial parameters, current parameters, number of full turns per layer, drum diameter, and hoisting rope diameter. Substituting the corresponding parameters into the calculation formula yields the current hoisting rope length released from drum 1. On the other hand, the current outermost layer number of turns of hoisting rope 2 on drum 1 can be determined first. The current outermost layer number is also a current parameter, specifically the number of turns of hoisting rope 2 on the outermost layer of drum 1 when the hook is in its current position. The current hoisting rope length released from drum 1 can be found in a chart or table pre-established with the current number of winding layers and the current outermost layer number as variables to determine the current hoisting rope length released from drum 1.

[0063] Step S300: Determine the real-time height of the hook based on the length of the hoisting rope currently released from 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 method for calculating the hook height, the length of the lifting rope currently released by drum 1 is determined by the initial parameters, current parameters, number of full turns in a single layer, drum diameter, and lifting rope diameter. The initial parameters include not only the initial number of full turns but also the initial number of outer turns. The current parameters include the current effective number of rotations of drum 1 in the release direction and the current number of winding layers of lifting rope 2 on drum 1. Therefore, when determining the length of the lifting rope currently released by drum 1, both the number of layers and turns of lifting rope 2 on drum 1 that change can be considered, ensuring the reliability of the length of the lifting rope currently released by drum 1. Simultaneously, the real-time hook height is calculated based on the current length of the lifting rope released by drum 1, thereby improving the accuracy of the real-time hook height, eliminating user concerns, and enhancing equipment safety.

[0065] In one embodiment of the present invention, step S200, determining the length of the hoisting rope currently released from drum 1 based on the initial parameters, current parameters, number of full turns in a single layer, drum diameter, and hoisting rope diameter, includes:

[0066] The first calculation formula for obtaining the length of the hoisting rope currently released from drum 1 is as follows:

[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 number of starting outer - layer turns, q represents the current effective revolution number, n' represents the current rope - winding layer number, Z0 represents the number of single - layer full - turns, D0 represents the drum diameter, d0 represents the hoisting rope diameter, and k represents the starting outer - layer turn coefficient. When Z1 = Z0, k = 0; when Z1 < Z0, k = 1;

[0069] Substitute the starting full - layer number, starting outer - layer number, current effective revolution number, current rope - winding layer number, single - layer full - turn number, drum diameter, and hoisting rope diameter 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 the first algebraic expression constructed with the drum diameter: πqD0, and the 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], which makes 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 rope - winding layer number according to the single - layer full - turn number, starting full - layer number, starting outer - layer number, and current effective revolution number.

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

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

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

[0076] If the initial number of outer loops is less than the number of full loops in a single layer, and the ratio of the current effective number of rotations to the initial number of outer loops is less than 1, then the current number of loops n' = n + 1 is determined. If the ratio of the current effective number of rotations to the initial number of outer loops is greater than 1, then the current number of loops n' = n - int((q - Z1) / Z0) is determined.

[0077] Specifically, the determination of the current number of rope layers involves first performing conditional judgments and establishing the relationship between the current number of rope layers and the initial number of full loops under different conditions. This eliminates the need for complex calculation formulas and verification to determine the correctness of the current number of rope layers, making the approach simple and effective. Of course, this invention is not limited to this; the current number of rope layers can also be determined by pre-constructing a calculation formula based on the number of full loops per layer, the initial number of full loops, the initial number of outer loops, 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 this invention refers to rounding down.

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

[0083] Obtain the original parameters, including the total length of the lifting rope, the length of the lifting rope 2 extending from the tangent point of the rope exiting the drum 1 to the fixed device when the hook is in the starting position, the number of full turns of the lifting rope 2 on the drum 1, the drum diameter, and the lifting rope diameter.

[0084] The initial full-circle number and the initial outer-circle number are determined based on the original parameters.

[0085] Understandably, the initial number of full-loop layers and the initial number of outer loops in the initial parameters can be automatically determined based on the original parameters. This is significantly more reliable and accurate than relying on the operator to observe and manually input the parameters. Of course, the invention is not limited to this; the initial number of full-loop layers and the initial number of outer loops can also be manually input by the operator.

[0086] Specifically, such as Figure 3As shown, the hook lifting system includes a drum 1, a lifting rope 2, a counterweight boom roller 3, a lifting capacity limiter pulley 4, a boom root lifting pulley 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 length of the lifting rope 2 extending from the tangent point of the rope exiting the drum 1, passing through the counterweight boom roller 3, the lifting capacity limiter pulley 4, the boom root lifting pulley 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-torsion device on the boom tip.

[0087] In one embodiment of the present invention, determining the initial full-circle number and the initial outer-circle number in the initial parameters based on the original parameters includes:

[0088] Assuming the initial number of outer turns is 0, calculate the initial total number of layers of the hoisting rope 2 wound on the drum 1 when the hook is in the initial position based on the original parameters.

[0089] If the initial total number of layers is a positive integer, the initial full circle number is equal to the initial total number of layers, and the initial outer circle number is equal to 0.

[0090] Given that the initial total number of layers is not a positive integer, determine the initial full-circle layer number n = int(x), and the initial outer circle number Z1 = [L 总 -(πZ0d0n 2 +πZ0D0n+L0)] / π[D0+(2n+1)d0], where x represents the initial total number of layers, L 总 L0 represents the total length of the hoisting rope, Z0 represents the length of the extended rope, D0 represents the number of full turns in a single layer, and d0 represents the diameter of the drum.

[0091] In this embodiment, by assuming the initial outermost loop count is 0, the second calculation formula for calculating the total length of the hoisting rope can be simplified, leaving only the initial total number of loops x as the unknown quantity. The initial total number of loops x is then calculated. If x is a positive integer, the assumption holds, meaning the initial outermost loop count is 0 and the initial full loop count matches the calculated initial total number of loops. If x is not a positive integer, the assumption does not hold. However, since the outermost loop length contributes little to the total hoisting rope length, rounding down x should yield the initial full loop count. Substituting x = n + 1 into the second calculation formula for the total hoisting rope length should then allow calculation of the initial outermost loop count. Therefore, based on the relationship between the initial total number of loops, the initial full loop count, and the initial outermost loop count, the initial full loop count and the initial outermost loop count can be quickly and conveniently derived using this assumption.

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

[0093] A second formula for calculating the total length of the hoisting rope is provided, wherein the second formula is:

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

[0095] In the formula, x represents the initial total number of floors, and L 总 L0 represents the total length of the hoisting rope, Z0 represents the length of the extended rope, D0 represents the number of full turns in a single layer, and d0 represents the diameter of the drum and the hoisting rope.

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

[0097] Understandably, the second calculation formula can be constructed based on calculating the total length of the hoisting rope using the original parameters, and assuming the initial outer layer count is 0, the second calculation formula can be transformed into: L 总 -(πZ0d0x 2 +πZ0D0x+L0)=0, from which the initial total number of 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 based on the length of the hoisting rope currently released from the drum 1, the preset starting height of the hook at the starting position, and the working ratio of the hook, includes:

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

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

[0101] In the formula, 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 hoisting rope currently released by drum 1, and f represents the working ratio of the hook.

[0102] The real-time height of the hook is calculated by substituting the current length of the hoisting rope released from drum 1, the preset starting height, and the working ratio of the hook into the third calculation formula.

[0103] Specifically, by constructing a third calculation formula for the real-time height of the hook, it is evident that the calculation efficiency and accuracy can be improved.

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

[0105] The current effective number of revolutions is counted using the encoder at the motor end or the encoder at the limit switch end of the drum 1.

[0106] Understandably, the drum 1 is rotatable, with one end set as the motor end and the other end set as the limit switch end. Therefore, the current effective number of revolutions of the drum 1 can be detected regardless of whether the encoder is set at the motor end or the limit switch end.

[0107] Therefore, this invention can accurately calculate the length of the lifting rope released by the multi-layer rope drum and the real-time height data of the hook, solving the problem of the hook height display data not matching the actual height, eliminating user inconvenience, and improving the safety of equipment use.

[0108] Furthermore, the present invention also provides a computing device configured to execute a method for calculating the height of a hook for lifting machinery as described above. Since the computing device employs all the technical solutions of the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0109] Furthermore, the present invention provides a lifting machine, wherein the lifting machine includes the computing device described above. Since the lifting machine adopts all the technical solutions of the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated further here.

[0110] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0112] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0113] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0116] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0117] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0118] The above are merely embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A method of calculating the height of a hook for a hoisting machine, characterized by, The hook height calculation method for the hoisting machinery comprises: obtaining starting parameters and current parameters, wherein the starting parameters comprise a starting full-layer number of the hoisting rope wound on the drum at the hook in a starting position and a starting outer-layer number of the outermost layer, and the current parameters comprise a current effective revolution number of the drum rotating in a pay-off direction and a current winding-layer number of the hoisting rope on the drum; determining a length of the hoisting rope currently paid off by the drum according to the starting parameters, the current parameters, a single-layer full-circle number, a drum diameter and a hoisting rope diameter; determining a real-time height of the hook according to the length of the hoisting rope currently paid off by the drum, a preset starting height of the hook at the starting position and a working multiple of the hook; the determination of the length of the hoisting rope currently paid off by the drum according to the starting parameters, the current parameters, the single-layer full-circle number, the drum diameter and the hoisting rope diameter comprises: obtaining a first calculation formula of the length of the hoisting rope currently paid off by the drum, wherein the first calculation formula is: L1=πqD0+πd0[2qn+(2n'-2n-1)q+2k(1+n-n')Z1+(n-n')(n-n'+1)Z0], wherein L1 represents the length of the hoisting rope currently paid off by the drum, n represents the starting full-layer number, Z1 represents the starting outer-layer number, q represents the current effective revolution number, n' represents the current winding-layer number, Z0 represents the single-layer full-circle number, D0 represents the drum diameter, d0 represents the hoisting rope diameter, and k represents a starting outer-layer number coefficient, wherein k=0 when Z1=Z0, and k=1 when Z1<Z0; the length of the hoisting rope currently paid off by the drum is calculated by substituting the starting full-layer number, the starting outer-layer number, the current effective revolution number, the current winding-layer number, the single-layer full-circle number, the drum diameter and the hoisting rope diameter into the first calculation formula.

2. The hook height calculation method for a hoisting machine according to claim 1, characterized by, the method further comprises, before the obtaining of the starting parameters and the current parameters: determining the current winding-layer number according to the single-layer full-circle number, the starting full-layer number, the starting outer-layer number and the current effective revolution number.

3. The crane hook height calculation method according to claim 2, characterized in that, the determination of the current winding-layer number according to the single-layer full-circle number, the starting full-layer number, the starting outer-layer number and the current effective revolution number comprises: in the case that the starting outer-layer number is equal to the single-layer full-circle number, if a ratio of the current effective revolution number to the starting outer-layer number is less than 1, the current winding-layer number n' is determined as n, and if the ratio of the current effective revolution number to the starting outer-layer number is greater than 1, the current winding-layer number n' is determined as n-int(q / Z0); in the case that the starting outer-layer number is less than the single-layer full-circle number, if the ratio of the current effective revolution number to the starting outer-layer number is less than 1, the current winding-layer number n' is determined as n+1, and if the ratio of the current effective revolution number to the starting outer-layer number is greater than 1, the current winding-layer number n' is determined as n-int((q-Z1) / Z0).

4. The crane hook height calculation method according to claim 1, characterized in that, the method further comprises, before the obtaining of the starting parameters and the current parameters: obtaining original parameters, wherein the original parameters comprise a total length of the hoisting rope, an extended winding length of the hoisting rope extending from a drum-out winding tangent point of the drum to a fixing device when the hook is in the starting position, the single-layer full-circle number of the hoisting rope on the drum, the drum diameter and the hoisting rope diameter; The number of full turns and the number of outer turns in the initial parameters are determined according to the original parameters.

5. The crane hook height calculation method according to claim 4, characterized in that, The number of full turns and the number of outer turns in the initial parameters are determined according to the original parameters. In a case where the number of outer turns is assumed to be 0, the total number of turns of the hoisting rope wound on the drum at the initial position of the hook is calculated according to the original parameters; In a case where the total number of turns is determined to be a positive integer, the number of full turns is determined to be equal to the total number of turns, and the number of outer turns is determined to be equal to 0; In the case where it is determined that the initial total number of layers does not belong to a positive integer, an initial full-circle number of layers n = int(x) is determined, and an initial outer-layer number of circles Z1 = [L 总 -(πZ0d0n 2 +πZ0D0n+L0)] / π[D0+(2n+1)d0], in which x represents the initial total number of layers, L 总 represents the total length of the hoisting rope, L0 represents the length of the extended winding rope, Z0 represents the number of single-layer full circles, D0 represents the diameter of the drum, and d0 represents the diameter of the hoisting rope.

6. The crane hook height calculation method according to claim 5, characterized in that, The number of full turns and the number of outer turns in the initial parameters are determined according to the original parameters. A second calculation formula of the total length of the hoisting 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 layers at the start, L 总 represents the total length of the hoisting rope, L0 represents the length of the extended rope, Z0 represents the number of full turns of a single layer, D0 represents the diameter of the drum, and d0 represents the diameter of the hoisting rope. In a case where the number of outer turns is assumed to be 0, the total number of turns of the hoisting rope wound on the drum at the initial position of the hook is calculated according to the original parameters.

7. The hook height calculation method for a hoisting machine according to any one of claims 1 to 6, characterized in that, A third calculation formula of the real-time height of the hook is obtained, wherein the third calculation formula is: H1=H0-(L1 / f), wherein H1 represents the real-time height of the hook, H0 represents the preset initial height of the hook at the initial position, L1 represents the length of the hoisting rope currently paid out by the drum, and f represents the working ratio of the hook; The real-time height of the hook is calculated by substituting the length of the hoisting rope currently paid out by the drum, the preset initial height, and the working ratio of the hook into the third calculation formula. The hoist hook height calculation method further includes:

8. The method of claim 1 to 6, wherein, The current effective number of turns is counted by using a motor end encoder or a position limiter end encoder of the drum. The computing device is configured to perform the hoist hook height calculation method according to any one of claims 1 to 8.

9. A computing device, comprising: The hoist includes the computing device according to claim 9.

10. A hoisting machine characterized by ​

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