Control method and device for hoisting equipment mast driving device, hoisting equipment, storage medium and computer program product

Abstract

The invention provides a control method and device for a hoisting equipment mast driving device, hoisting equipment, a storage medium and a computer program product, and relates to the technical field of hoisting. The control method for the hoisting equipment mast driving device comprises the steps that under the condition that a mast reaches a first preset angle, the current value of an electromagnetic valve is controlled to be gradually increased, so that a main variable amplitude pull-up oil cylinder is shrunk; acquiring a first angular velocity of the mast; when the first angular velocity is within a predetermined range. A first angular velocity of a mast is obtained; and under the condition that the first angular speed is larger than or equal to the preset value, the current value corresponding to the first angular speed is determined as the working current value of the electromagnetic valve. The situation that the mast cannot be lowered due to too small lowering current of the pull-up oil cylinder or the lowering angular speed of the mast is too high due to too large lowering current of the pull-up oil cylinder can be prevented; the working current value can be automatically determined, and manual resetting is not needed after the electromagnetic valves in different current ranges are replaced, so that the operation is more convenient.

Description

Technical Field

[0001] The present invention relates to the field of lifting technology, and in particular to a control method and device for a mast driving device of a lifting device, a lifting device, a storage medium and a computer program product. Background Art

[0002] The mast is moved from 170° to fully lowered onto the platform (180°) by contracting the main luffing cylinder. The flow rate of the solenoid valve will affect the angular velocity of the mast lowering, and the opening of the solenoid valve is controlled by the current. However, due to differences in external hardware (such as differences in the solenoid valve itself, different mast weights for different models, changes in hydraulic oil temperature, etc.), the current required to lower the mast at a suitable angular velocity will change.

[0003] If the current cannot be adjusted automatically after the lifting equipment hardware changes, the mast cannot be lowered after 170° or the lowering angular velocity is too fast. For example, if the original solenoid valve with a current range of 100 mA to 1000 mA is installed and the current is set to 500 mA during lowering, and now the solenoid valve is changed to a solenoid valve with a current range of 100 mA to 600 mA, the same current will cause the valve to open too much, resulting in the mast lowering angular velocity being too fast. In the prior art, the lifting equipment hardware usually needs to be manually changed after changes, which is inconvenient to operate and has large errors. Summary of the invention

[0004] The invention provides a control method for a mast driving device of a lifting equipment, which is used to solve the problems of inconvenient operation and large error in the prior art.

[0005] The present invention provides a control method for a mast driving device of a lifting equipment, wherein the lifting equipment comprises a lifting equipment body, a mast, a driving device, an angle detection device and a controller, wherein one end of the mast is pivotally connected to one end of the lifting equipment body; the driving device is installed between the lifting equipment body and the mast, and is used to drive the mast to rotate relative to one end of the lifting equipment body; the angle detection device is used to detect the angle of the mast; the controller is respectively communicated with the angle detection devices, and is used to receive signals from the angle detection devices; the driving device is communicated with the controller, and is used to change the angle of the mast according to the instructions of the controller, and when the detection device determines that the mast reaches a first predetermined angle, the controller controls the driving device to move.

[0006] According to a control method for a mast driving device of a lifting equipment provided by the present invention, the driving device comprises a main luffing and raising oil cylinder, one end of the main luffing and raising oil cylinder is pivotally connected to the lifting equipment body, and the other end of the main luffing and raising oil cylinder is pivotally connected to the mast; after the step of the controller controlling the movement of the driving device, the method further comprises: Controlling the solenoid valve to operate at the operating current value; When the mast reaches a second predetermined angle, obtaining a second angular velocity of the mast; When the second angular velocity is within the predetermined range, the operating current value is set as a final operating current value of the solenoid valve.

[0007] A control method for a mast driving device of a lifting equipment provided by the present invention further includes: When the second angular velocity is greater than or less than the predetermined range, a prompt message is output.

[0008] According to a control method for a mast driving device of a lifting equipment provided by the present invention, before the step of controlling the current value of the solenoid valve to gradually increase, the method further comprises: The winch of the mast is controlled to stop working so that the rope body is in a static state.

[0009] A control method for a mast driving device of a lifting equipment provided by the present invention further includes: The current value of the solenoid valve is controlled to stop increasing.

[0010] According to a control method for a mast driving device of a lifting equipment provided by the present invention, the current value increasing rate of the solenoid valve is 2-7ma / s.

[0011] The present invention also provides a mast raising oil cylinder current control device, comprising: A control module, when the mast reaches a first predetermined angle, controls the current value of the solenoid valve to gradually increase so as to retract the main luffing cylinder; An acquisition module, for acquiring a first angular velocity of the mast; The confirmation module confirms the current value corresponding to the first angular velocity as the working current value of the solenoid valve when the first angular velocity is greater than or equal to a predetermined value.

[0012] The present invention also provides a lifting device, comprising the mast lifting cylinder current control device as described above.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the control method for a mast drive device of a lifting equipment as described in any one of the above items is implemented.

[0014] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the control method for a mast driving device of a lifting equipment as described in any one of the above items is implemented.

[0015] The control method for the mast driving device of the lifting equipment provided by the present invention obtains the first angular velocity of the mast; when the first angular velocity is greater than or equal to a predetermined value, the current value corresponding to the first angular velocity is confirmed as the working current value of the electromagnetic valve. This can prevent the mast from being unable to be lowered due to the lowering current of the lifting cylinder being too small, or the mast being lowered too quickly due to the lowering current of the lifting cylinder being too large; because the working current value can be automatically determined, there is no need to manually reset it after replacing the electromagnetic valve with a different current range, so the operation is more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a flow chart of a control method for a mast driving device of a lifting equipment provided by the present invention.

[0018] Figure 2 It is a structural schematic diagram of the lifting equipment provided by the present invention.

[0019] Figure 3 It is a structural schematic diagram of the lifting equipment provided by the present invention when the mast is at 175 degrees.

[0020] Figure 4 It is a structural schematic diagram of the lifting equipment provided by the present invention when the mast is at 180 degrees.

[0021] Figure 5 The present invention is a schematic diagram of the hydraulic control principle of the mast. Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention.

[0022] Reference numerals: 100, mast; 200, get off; 300, platform; 400, counterweight; 500, main luffing cylinder; 600, solenoid valve; 610, second control valve; 700, first control valve; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0025] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0026] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0027] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0028] like Figure 2 As shown, before introducing the control method for the mast driving device of the lifting equipment, the connection relationship and control relationship between the main luffing cylinder and the solenoid valve 600, as well as the connection relationship between the mast 100 and the lifting equipment are first introduced.

[0029] The connection relationship between the mast 100 and the lifting equipment: the lifting equipment has a movable lower vehicle 200, a platform 300 that can rotate relative to the lower vehicle 200, a counterweight block 400 installed on the rear side of the platform 300, a mast 100 and a main arm (not shown) hingedly installed on the front side of the platform 300, one end of the mast 100 is connected to the upper part of the main arm by a connecting structure such as a pull plate, and the other end of the mast 100 is hinged to the platform 300.

[0030] The connection relationship between the main luffing cylinder 500, the mast 100 and the lifting equipment is as follows: the main luffing cylinder 500 is arranged on the platform 300, one end of the main luffing cylinder 500 is hinged to the platform 300, and the other end of the main luffing cylinder 500 is hinged to the mast 100.

[0031] The connection relationship and control relationship between the main variable-luffing oil cylinder 500 and the solenoid valve 600 are as follows: Figure 5 As shown, two solenoid valves 600 and two main variable-length lifting cylinders 500 are provided respectively. The rodless chamber of the main variable-length lifting cylinder 500 is connected to the first interface of the corresponding solenoid valve 600, and the rod chamber of the main variable-length lifting cylinder 500 is connected to the first control valve 700 through the second control valve 610. The second interfaces of the two solenoid valves 600 are connected to the first control valve 700. The first control valve 700 is a two-position four-way valve. Of course, the specific type of the first control valve 700 is not limited to this, and is determined according to actual needs.

[0032] The flow rate of the solenoid valve 600 will change the pressure in the main variable-length lifting cylinder 500, thereby affecting the lowering angular velocity of the mast 100. Therefore, the flow rate of the solenoid valve 600 is positively correlated with the lowering angular velocity of the mast 100. The working current value of the solenoid valve 600 is positively correlated with the flow rate of the solenoid valve 600. Therefore, the working current value of the solenoid valve 600 indirectly controls the lowering angular velocity of the mast. The control system is used to control the opening and closing of the solenoid valve 600, as well as the opening size of the solenoid valve 600, thereby controlling the pressure in the main variable-length lifting cylinder 500, and finally controlling the lowering angular velocity of the mast 100. The model of the solenoid valve 600 in this application is QN48, and the QN48 solenoid valve is a 2-position normally closed solenoid valve. Of course, the specific type of the solenoid valve is not limited to this, and it can also be other types of solenoid valves.

[0033] Combine the following Figure 1-Figure 2 The specific steps of the control method for a mast driving device of a lifting equipment of the present invention are described.

[0034] like Figure 1 As shown, the lifting equipment includes a lifting equipment body, a mast, a driving device, an angle detection device and a controller, one end of the mast is pivotally connected to one end of the lifting equipment body; the driving device is installed between the lifting equipment body and the mast, and is used to drive the mast to rotate relative to one end of the lifting equipment body; the angle detection device is used to detect the angle of the mast; the controller is respectively communicated with the angle detection device, and is used to receive the signal of the angle detection device; the driving device is communicated with the controller, and is used to change the angle of the mast according to the instruction of the controller, and when the detection device determines that the mast reaches the first predetermined angle, the controller controls the driving device to move.

[0035] In one embodiment of the present invention, the main luffing oil cylinder is connected to the solenoid valve, and the control method for the mast driving device of the lifting equipment includes: Step S100, when the mast 100 reaches a first predetermined angle B, the current value of the solenoid valve is controlled to gradually increase so as to retract the main luffing cylinder; like Figure 3 and Figure 4 As shown, since the mast 100 is completely placed on the platform 300 (180°) from C is completed by the contraction of the main luffing cylinder, the first predetermined angle A can be equal to or greater than C and less than 180°. In a preferred embodiment of the present invention, C is 170°, and therefore, the first predetermined angle B is greater than or equal to 170° and less than 175°.

[0036] Step S200, obtaining a first angular velocity of the mast 100; An angle sensor is provided on the mast 100, and the angle sensor is electrically connected to the control system. The angle sensor is used to detect the angle change of the mast 100 in real time and send the angle change of the mast 100 to the control system. The control system calculates the first angular velocity or the second angular velocity according to the angle change of the mast 100 per unit time.

[0037] Step S300: When the first angular velocity is within a predetermined range, the current value corresponding to the first angular velocity is confirmed as the working current value of the solenoid valve.

[0038] It should be noted here that the working current value of the solenoid valve refers to the control current that controls the opening of the solenoid valve core.

[0039] The main luffing winch and the main luffing lifting cylinder cooperate to change the angle of the mast. If the mast 100 cannot be lowered, the lifting equipment may not meet the operating requirements of safe construction during operation, which may cause safety hazards. If the mast 100 is lowered at an angular velocity that is too fast, the main luffing wire rope may be too loose, and the main luffing wire rope may be wound around the outside of the drum. Because the wire rope is too loose, the wire rope wound around the outside of the drum cannot be arranged in a predetermined order during later use, and the assembly wire rope may be stuck or tangled. This may easily lead to tangled wire ropes, thereby causing certain safety hazards. Therefore, controlling the angular velocity of the mast 100 to be within a reasonable range is an important guarantee for achieving safe operation. The first angular velocity being within a predetermined range means that the first angular velocity is greater than or equal to the minimum value of the predetermined range, and less than or equal to the maximum value of the predetermined range. The first angular velocity being within a predetermined range indicates that the angular velocity of the mast 100 is a suitable angular velocity, and at this time, it is considered that the current value of the solenoid valve is a suitable working current value. Therefore, reasonably determining the working current value of the solenoid valve is the key to achieving safe operation. In this embodiment, the predetermined range is 0.3° / s-0.7° / s. Preferably, the lowering angular velocity of the mast is 0.5° / s.

[0040] The control method for the mast driving device of the lifting equipment provided by the present invention obtains the first angular velocity of the mast 100; when the first angular velocity is greater than or equal to a predetermined value, the current value corresponding to the first angular velocity is confirmed as the working current value of the electromagnetic valve. This can prevent the mast 100 from being unable to be lowered due to the lowering current of the lifting cylinder being too small, or the mast 100 from being lowered too fast due to the lowering current of the lifting cylinder being too large; since the working current value can be automatically determined, there is no need to manually reset it after replacing the electromagnetic valve with a different control current range, so the operation is more convenient.

[0041] In one embodiment of the present invention, the driving device comprises a main luffing oil cylinder, one end of which is pivotally connected to the lifting equipment body, and the other end of which is pivotally connected to the mast; after the controller controls the driving device to move, the step further comprises: Step S400, controlling the solenoid valve to operate at a working current value; After the control system confirms the working current value of the solenoid valve according to the first angular velocity, it controls the solenoid valve to work under the working current value. As the current value of the solenoid valve changes, the angular velocity of the mast 100 also changes. At this time, the angular velocity of the mast 100 switches to the second angular velocity.

[0042] Step S500, when the mast 100 reaches a second predetermined angle, obtaining a second angular velocity of the mast 100; Step S600: When the second angular velocity is within a predetermined range, the operating current value is set as a final operating current value of the solenoid valve.

[0043] Although the above steps have set the current value of the solenoid valve to the working current value, according to the theoretical design, the second angular velocity of the mast 100 descending should also be within the predetermined range. However, when the mast 100 is close to 180°, the change in the posture of the mast 100 may cause a change in the moment of inertia, thereby affecting the angular velocity of the mast 100, so that the actual second angular velocity is greater than the theoretical value, that is, the second angular velocity is greater than the predetermined range. In addition, due to the effect of gravity, when the mast 100 is close to 180°, the angular velocity of the mast 100 will also increase, so that the second angular velocity is greater than the predetermined range. Therefore, when the mast 100 reaches the second predetermined angle, by obtaining the second angular velocity of the mast 100 and comparing the second angular velocity with the predetermined range, it is determined whether the working current value at this time is appropriate. When the second angular velocity is within the predetermined range, the working current value is set to the final working current value of the solenoid valve. With such a design, the control accuracy of the angular velocity of the mast 100 is effectively improved. The second predetermined angle is greater than or equal to D and less than E.

[0044] In a specific embodiment of the present invention, D is 175° and E is 180°, so the second predetermined angle is greater than or equal to 175° and less than 180°, and preferably, the second predetermined angle is equal to 175°. Since the second predetermined angle is very close to 180°, the angular velocity of the mast 100 does not change much after passing through the second predetermined angle, and therefore, detecting the second angular velocity at the second predetermined angle effectively improves the control accuracy of the angular velocity of the mast 100.

[0045] In a specific embodiment of the present invention, a control method for a mast driving device of a lifting equipment comprises the following steps: Step S100, when the mast 100 reaches a first predetermined angle, the current value of the solenoid valve is controlled to gradually increase so as to retract the main luffing cylinder; Step S200, obtaining a first angular velocity of the mast 100; Step S300, when the first angular velocity is within a predetermined range, confirming the current value corresponding to the first angular velocity as the working current value of the solenoid valve; Step S400, controlling the solenoid valve to operate at a working current value; Step S500, when the mast 100 reaches a second predetermined angle, obtaining a second angular velocity of the mast 100; Step S600: When the second angular velocity is within a predetermined range, the operating current value is set as a final operating current value of the solenoid valve.

[0046] In one embodiment of the present invention, the control method for a mast driving device of a lifting equipment further comprises: When the second angular velocity is greater than or less than a predetermined range, a prompt message is output.

[0047] When the second angular velocity is greater than or less than the predetermined range, it means that the current value of the solenoid valve corresponding to the second angular velocity is too large or too small, so it is necessary to reset the current value of the solenoid valve to accurately control the angular velocity of the mast 100. By outputting prompt information, the operator or maintenance personnel can be reminded, so that the operator or maintenance personnel can understand the current value of the solenoid valve in time. The lifting equipment is provided with a prompt unit, which is electrically connected to the control system, and the prompt unit is used to output prompt information. In this embodiment, the prompt unit is a buzzer, which is electrically connected to the control device, and the warning information is a prompt sound. Of course, the specific type of the prompt unit is not limited to this, and it can also be an indicator light, a vibrator or a display. Correspondingly, the specific type of the warning information is not limited to this, and it can also be light, vibration, image or text information.

[0048] In one embodiment of the present invention, before the step of controlling the current value of the solenoid valve to gradually increase, the control method for the mast driving device of the lifting equipment further includes: The winch of the mast 100 is controlled to stop working so that the rope body is in a stationary state.

[0049] Since the mast 100 is moved from 170° to completely placed on the platform 300 (180°) by contracting the main variable-length lifting cylinder, if the winch continues to work during the process of leveling the mast 100, it may cause uneven force on the wire rope, thereby causing the wire rope to become tangled. Tangled wire ropes not only affect operating efficiency, but may also cause damage to equipment and increase safety hazards. Therefore, before the step of gradually increasing the current value of the control solenoid valve, it is necessary to first control the winch of the mast 100 to stop working so that the rope body is in a static state to prevent the wire rope from becoming tangled, thereby improving the safety of the operating process.

[0050] In one embodiment of the present invention, while setting the current value corresponding to the first angular velocity as the working current value of the solenoid valve, the control method for the mast driving device of the lifting equipment further includes: The current value controlling the solenoid valve stops increasing.

[0051] The greater the current value of the solenoid valve, the greater the angular velocity of the mast 100. When the working current value is set to the working current value of the solenoid valve, in order to prevent the mast 100 from descending too fast, the current value of the solenoid valve needs to be controlled to stop increasing, which further improves the safety of the operation process.

[0052] In one embodiment of the present invention, the rate of increase of the current value of the solenoid valve is A, wherein the value range of A is 2-7 ma / s. Specifically, the current value of the solenoid valve increases at a uniform rate. Preferably, the rate of increase of the current value of the solenoid valve is 5 ma / s.

[0053] In a specific embodiment of the present invention, a control method for a mast driving device of a lifting equipment comprises the following steps: Step S100, when the mast 100 reaches a first predetermined angle, the winch of the mast 100 is controlled to stop working so that the rope body is in a static state; the current value of the solenoid valve is controlled to gradually increase so that the main luffing cylinder is contracted; Step S200, obtaining a first angular velocity of the mast 100; Step S300, when the first angular velocity is within a predetermined range, controlling the current value of the solenoid valve to stop increasing, and confirming the current value corresponding to the first angular velocity as the working current value of the solenoid valve; Step S400, controlling the solenoid valve to operate at a working current value; Step S500, when the mast 100 reaches a second predetermined angle, obtaining a second angular velocity of the mast 100; Step S600, when the second angular velocity is within a predetermined range, setting the operating current value to the final operating current value of the solenoid valve; The present invention also provides a mast 100 lifting cylinder current control device, comprising: The control module controls the current value of the solenoid valve to gradually increase when the mast 100 reaches a first predetermined angle, so as to retract the main luffing cylinder; An acquisition module, for acquiring a first angular velocity of the mast 100; The confirmation module confirms the current value corresponding to the first angular velocity as the working current value of the solenoid valve when the first angular velocity is greater than or equal to a predetermined value.

[0054] The control method for the mast driving device of the lifting equipment provided by the present invention obtains the first angular velocity of the mast 100; when the first angular velocity is greater than or equal to a predetermined value, the current value corresponding to the first angular velocity is confirmed as the working current value of the electromagnetic valve. This can prevent the mast 100 from being unable to be lowered due to the lowering current of the lifting cylinder being too small, or the mast 100 from being lowered too fast due to the lowering current of the lifting cylinder being too large; since the working current value can be automatically determined, there is no need to manually reset it after replacing the electromagnetic valve with a different current range, so the operation is more convenient.

[0055] The present invention also provides a lifting device, which comprises the mast lifting cylinder current control device as described above.

[0056] like Figure 6 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute a control method for a mast driving device of a lifting equipment, the method comprising: Step S100, when the mast reaches a first predetermined angle, the current value of the solenoid valve is controlled to gradually increase so as to retract the main luffing cylinder; Step S200, obtaining a first angular velocity of the mast; Step S300: When the first angular velocity is within a predetermined range, the current value corresponding to the first angular velocity is confirmed as the working current value of the solenoid valve.

[0057] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0058] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the control method for the mast driving device of the lifting equipment provided by the above methods, the method comprising: Step S100, when the mast reaches a first predetermined angle, the current value of the solenoid valve is controlled to gradually increase so as to retract the main luffing cylinder; Step S200, obtaining a first angular velocity of the mast; Step S300: When the first angular velocity is within a predetermined range, the current value corresponding to the first angular velocity is confirmed as the working current value of the solenoid valve.

[0059] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the control method for a mast driving device of a lifting equipment provided by the above methods, the method comprising: Step S100, when the mast reaches a first predetermined angle, the current value of the solenoid valve is controlled to gradually increase so as to retract the main luffing cylinder; Step S200, obtaining a first angular velocity of the mast; Step S300: When the first angular velocity is within a predetermined range, the current value corresponding to the first angular velocity is confirmed as the working current value of the solenoid valve.

[0060] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0061] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a mast driving device of a lifting device, the lifting device comprising a lifting device body, a mast, a driving device, an angle detection device and a controller, one end of the mast being pivotally connected to one end of the lifting device body; the driving device being installed between the lifting device body and the mast and being used to drive the mast to rotate relative to one end of the lifting device body; the angle detection device being used to detect the angle of the mast; the controller being respectively connected in communication with the angle detection device and being used to receive a signal from the angle detection device; the driving device being connected in communication with the controller and being used to change the angle of the mast according to an instruction of the controller, characterized in that: When the detection device determines that the mast reaches a first predetermined angle, the controller controls the driving device to move.

2. The control method for a mast driving device of a lifting equipment according to claim 1, characterized in that: The driving device comprises a main luffing oil cylinder, one end of which is pivotally connected to the lifting equipment body, and the other end of which is pivotally connected to the mast; After the step of the controller controlling the driving device to move, the method further comprises: Control the solenoid valve to work under the working current value; When the mast (100) reaches a second predetermined angle, obtaining a second angular velocity of the mast (100); When the second angular velocity is within the predetermined range, the operating current value is set as a final operating current value of the solenoid valve.

3. The control method for a mast driving device of a lifting equipment according to claim 2, characterized in that: Also includes: When the second angular velocity is greater than or less than the predetermined range, a prompt message is output.

4. The control method for a mast driving device of a lifting equipment according to claim 2, characterized in that: Before the step of controlling the current value of the solenoid valve to gradually increase, the method further includes: The winch of the mast (100) is controlled to stop working so that the rope body is in a stationary state.

5. The control method for a mast driving device of a lifting equipment according to claim 2, characterized in that: Also includes: The current value of the solenoid valve is controlled to stop increasing.

6. The control method for a mast driving device of a lifting equipment according to claim 2, characterized in that: The current value increase rate of the solenoid valve is A, wherein the value range of A is 2-7ma / s.

7. A mast raising cylinder current control device, characterized in that: include: The control module controls the current value of the solenoid valve to gradually increase when the mast reaches a first predetermined angle, so as to retract the main luffing cylinder; An acquisition module, for acquiring a first angular velocity of the mast; The confirmation module confirms the current value corresponding to the first angular velocity as the working current value of the solenoid valve when the first angular velocity is greater than or equal to a predetermined value.

8. A lifting device, characterized in that: It includes the mast raising cylinder current control device as described in claim 7.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method for a lifting equipment mast driving device according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the control method for a lifting equipment mast driving device according to any one of claims 1 to 6 is implemented.

Images