Control methods, devices, lifting equipment, storage media, and computer program products for mast drive mechanisms of lifting equipment.

Abstract

This invention provides a control method, device, lifting equipment, storage medium, and computer program product for a mast drive device of lifting equipment, relating to the field of lifting technology. The control method for the mast drive device of lifting equipment includes: when the mast reaches a first predetermined angle, gradually increasing the current value of a solenoid valve to retract the main luffing cylinder; acquiring a first angular velocity of the mast; and, when the first angular velocity is within a predetermined range, determining the current value corresponding to the first angular velocity as the operating current value of the solenoid valve if the first angular velocity is greater than or equal to a predetermined value. This prevents the mast from failing to lower due to insufficient current from the luffing cylinder, or from lowering too quickly due to excessive current. Because the operating current value can be automatically determined, manual resetting is unnecessary after replacing solenoid valves with different current ranges, thus making operation more convenient.

Description

Technical Field

[0001] This invention relates to the field of lifting technology, and in particular to a control method, device, lifting equipment, storage medium, and computer program product for a mast drive device of a lifting equipment. Background Technology

[0002] The mast is lowered from 170° to its full position on the platform (180°) via the retraction of the main luffing cylinder. The flow rate of the solenoid valve affects the angular velocity of the mast's descent, while the valve's opening is controlled by current. However, due to differences in external hardware (such as variations in the solenoid valve itself, different mast weights for different vehicle models, and changes in hydraulic oil temperature), the current required for the mast to be lowered at the appropriate angular velocity will vary.

[0003] When the hardware of a lifting device changes, the current cannot be automatically adjusted, leading to problems such as the mast failing to lower after 170° or lowering at an excessively rapid angular velocity. For example, if the original solenoid valve had a current range of 100 mA-1000 mA and the current was set to 500 mA for lowering, replacing it with a valve with a current range of 100 mA-600 mA would cause the valve to open too wide with the same current, resulting in an excessively rapid mast lowering angular velocity. Currently, changes to the lifting device hardware typically require manual modification, which is inconvenient and prone to errors. Summary of the Invention

[0004] This invention provides a control method for a mast drive device of a lifting equipment, which solves the problems of inconvenient operation and large error in the prior art.

[0005] This invention provides a control method for a mast drive device of a lifting equipment. The lifting equipment includes a lifting equipment body, a mast, a drive 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 drive 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 communicatively connected to the angle detection device and is used to receive signals from the angle detection device. The drive device is communicatively connected to the controller and is used to change the angle of the mast according to the instructions of the controller. When the detection device determines that the mast has reached a first predetermined angle, the controller controls the drive device to move.

[0006] According to the present invention, a control method for a mast drive device of a lifting equipment is provided, the drive device including a main luffing cylinder, one end of the main luffing cylinder being pivotally connected to the lifting equipment body, and the other end of the main luffing cylinder being pivotally connected to the mast; after the step of the controller controlling the movement of the drive device, the method further includes:

[0007] The solenoid valve is controlled to operate at the specified operating current value.

[0008] When the mast reaches a second predetermined angle, the second angular velocity of the mast is obtained;

[0009] When the second angular velocity is within the predetermined range, the operating current value is set as the final operating current value of the solenoid valve.

[0010] A control method for a mast drive device of a lifting equipment according to the present invention further includes:

[0011] If the second angular velocity is greater than or less than the predetermined range, a prompt message will be output.

[0012] According to a control method for a mast drive device of a lifting equipment provided by the present invention, before the step of gradually increasing the current value of the solenoid valve, the method further includes:

[0013] The hoist on the mast is stopped to bring the rope to a standstill.

[0014] A control method for a mast drive device of a lifting equipment according to the present invention further includes:

[0015] The current value of the solenoid valve is controlled to stop increasing.

[0016] According to the control method for a mast drive device of a lifting equipment provided by the present invention, the current value of the solenoid valve increases at a rate of 2-7 mA / s.

[0017] The present invention also provides a current control device for a mast lifting cylinder, comprising:

[0018] The control module controls the current value of the solenoid valve to gradually increase when the mast reaches the first predetermined angle, so as to retract the main luffing cylinder.

[0019] The acquisition module acquires the first angular velocity of the mast;

[0020] The confirmation module confirms the current value corresponding to the first angular velocity as the operating current value of the solenoid valve when the first angular velocity is greater than or equal to a predetermined value.

[0021] The present invention also provides a lifting device, including the mast lifting cylinder current control device as described above.

[0022] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the control method for a mast drive device of a lifting equipment as described in any of the preceding claims.

[0023] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the control method for a mast drive device of a lifting equipment as described in any of the preceding claims.

[0024] The control method for a mast drive device of lifting equipment provided by this 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 solenoid valve. This can prevent the mast from failing to lower due to insufficient current in the lifting cylinder, or the mast lowering angular velocity from being too fast due to excessive current in the lifting cylinder. Because the working current value can be automatically determined, no manual resetting is required after replacing the solenoid valve with one of different current ranges, thus making operation more convenient. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a flowchart illustrating the control method for a mast drive device of lifting equipment provided by the present invention.

[0027] Figure 2 This is a structural schematic diagram of the lifting equipment provided by the present invention.

[0028] Figure 3 This is a schematic diagram of the lifting device provided by the present invention when the mast is at 175°.

[0029] Figure 4 This is a structural schematic diagram of the lifting device provided by the present invention when the mast is at 180°.

[0030] Figure 5 This is a schematic diagram of the hydraulic control principle of the mast provided by the present invention. Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0031] Figure label:

[0032] 100, Mast; 200, Unloading; 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 Implementation

[0033] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0034] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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 device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0036] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0037] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0038] like Figure 2 As shown, before introducing the control method for the mast drive device of the lifting equipment, we will first introduce 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.

[0039] Connection relationship between mast 100 and lifting equipment: The lifting equipment has a movable undercarriage 200, a platform 300 that can rotate relative to the undercarriage 200, a counterweight block 400 installed on the rear side of the platform 300, mast 100, and a main boom (not shown) hinged to the front side of the platform 300. One end of the mast 100 is connected to the upper part of the main boom through a connecting structure such as a pull plate, and the other end of the mast 100 is hinged to the platform 300.

[0040] Connection relationship between main luffing cylinder 500, mast 100, and lifting equipment: main luffing cylinder 500 is set on platform 300, one end of main luffing cylinder 500 is hinged to platform 300, and the other end of main luffing cylinder 500 is hinged to mast 100.

[0041] The connection and control relationship between the main luffing cylinder 500 and the solenoid valve 600 are as follows: Figure 5 As shown, there are two solenoid valves 600 and two main luffing cylinders 500. The rodless chamber of the main luffing cylinder 500 is connected to the first interface of the corresponding solenoid valve 600. The rod chambers of the main luffing cylinder 500 are 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 can be determined according to actual needs.

[0042] The flow rate of solenoid valve 600 changes the pressure within the main luffing cylinder 500, thus affecting the descent velocity of mast 100. Therefore, the flow rate of solenoid valve 600 is positively correlated with the descent velocity of mast 100, and the operating current of solenoid valve 600 is also positively correlated with its flow rate. Thus, the operating current of solenoid valve 600 indirectly controls the descent velocity of mast 100. The control system controls the opening and closing of solenoid valve 600, as well as the degree of its opening, thereby controlling the pressure within the main luffing cylinder 500 and ultimately controlling the descent velocity of mast 100. In this application, the solenoid valve 600 is designated as model QN48, which is a 2-position normally closed solenoid valve. However, the specific type of solenoid valve is not limited to this; other types of solenoid valves may also be used.

[0043] The following combination Figure 1-Figure 2 The specific steps of the control method for a mast drive device of a lifting equipment according to the present invention are described.

[0044] like Figure 1 As shown, the lifting equipment includes a lifting equipment body, a mast, a drive unit, an angle detection device, and a controller. One end of the mast is pivotally connected to one end of the lifting equipment body. The drive unit 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 communicatively connected to the angle detection device and is used to receive signals from the angle detection device. The drive unit is communicatively connected to the controller and is used to change the angle of the mast according to the controller's instructions. When the detection device determines that the mast has reached a first predetermined angle, the controller controls the drive unit to move.

[0045] In one embodiment of the present invention, the main luffing cylinder is connected to a solenoid valve, and the control method for the mast drive device of the lifting equipment includes:

[0046] In step S100, when the mast 100 reaches the first predetermined angle B, the current value of the control solenoid valve is gradually increased to cause the main luffing cylinder to retract.

[0047] like Figure 3 and Figure 4 As shown, since the mast 100 is fully lowered onto the platform 300 from C to 180° by the retraction of the main luffing cylinder, the first predetermined angle A can be equal to or greater than C, but less than 180°.

[0048] In a preferred embodiment of the present invention, C is 170°, therefore, the first predetermined angle B is greater than or equal to 170° and less than 175°.

[0049] Step S200: Obtain the first angular velocity of mast 100;

[0050] An angle sensor is installed on the mast 100. 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 based on the angle change of the mast 100 per unit time.

[0051] Step S300: If 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.

[0052] It should be noted that the operating current value of the solenoid valve refers to the control current that controls the opening of the solenoid valve core.

[0053] The mast angle is changed by the coordinated action of the main luffing winch and the main luffing cylinder. If the mast 100 cannot be lowered, the lifting equipment may not meet the safety requirements during operation, posing a safety hazard. If the mast 100 lowers at too fast an angular velocity, the main luffing wire rope may become too loose, causing it to wrap around the outside of the drum. Because the wire rope is too loose, it cannot be arranged in the predetermined order during later use, leading to problems such as rope entanglement and knots, which easily result in wire rope tangling and create safety hazards. Therefore, controlling the descent angular velocity of the mast 100 within a reasonable range is crucial for safe operation. The first angular velocity being within the 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. If the first angular velocity is within the predetermined range, the descent angular velocity of the mast 100 is considered appropriate, and the current value of the solenoid valve is considered to be the appropriate operating current value. Therefore, reasonably determining the operating current value of the solenoid valve is key to 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.

[0054] The control method for a mast drive device of a lifting equipment provided by this 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 solenoid valve. This can prevent the mast 100 from failing to lower due to insufficient current in the lifting cylinder, or the mast 100 from lowering too quickly due to excessive current in the lifting cylinder. Since the working current value can be automatically determined, no manual resetting is required after replacing solenoid valves with different control current ranges, thus making operation more convenient.

[0055] In one embodiment of the present invention, the driving device includes a main luffing 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 movement of the driving device, the device further includes:

[0056] Step S400: Control the solenoid valve to operate at the working current value;

[0057] After the control system confirms the working current value of the solenoid valve based on 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.

[0058] Step S500: When the mast 100 reaches the second predetermined angle, obtain the second angular velocity of the mast 100;

[0059] In step S600, if the second angular velocity is within a predetermined range, the operating current value is set to the final operating current value of the solenoid valve.

[0060] Although the above steps have set the current value of the solenoid valve to the operating current value, and theoretically the second angular velocity of the mast 100 during descent should also be within the predetermined range, the change in the mast 100's attitude as it approaches 180° may cause a change in its moment of inertia, thus affecting its angular velocity. This results in the actual second angular velocity being larger than the theoretical value, i.e., greater than the predetermined range. Furthermore, due to gravity, the angular velocity of the mast 100 also increases as it approaches 180°, causing it to exceed the predetermined range. Therefore, when the mast 100 reaches the second predetermined angle, its second angular velocity is acquired and compared with the predetermined range to determine if the operating current value is appropriate. If the second angular velocity is within the predetermined range, the operating current value is set as the final operating current value of the solenoid valve. This design effectively improves the control accuracy of the mast 100's angular velocity. The second predetermined angle is greater than or equal to D and less than E.

[0061] In one specific embodiment of the present invention, D is 175° and E is 180°. Therefore, the second predetermined angle is greater than or equal to 175° and less than 180°. Preferably, the second predetermined angle is equal to 175°. Since the second predetermined angle is already very close to 180°, the angular velocity of the mast 100 does not change significantly after passing through the second predetermined angle. Therefore, detecting the second angular velocity at the second predetermined angle effectively improves the control accuracy of the angular velocity of the mast 100.

[0062] In a specific embodiment of the present invention, the control method for a mast drive device of a lifting equipment includes the following steps:

[0063] In step S100, when the mast 100 reaches the first predetermined angle, the current value of the control solenoid valve is gradually increased to cause the main luffing cylinder to retract.

[0064] Step S200: Obtain the first angular velocity of mast 100;

[0065] Step S300: If 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.

[0066] Step S400: Control the solenoid valve to operate at the working current value;

[0067] Step S500: When the mast 100 reaches the second predetermined angle, obtain the second angular velocity of the mast 100;

[0068] In step S600, if the second angular velocity is within a predetermined range, the operating current value is set to the final operating current value of the solenoid valve.

[0069] In one embodiment of the present invention, the control method for a mast drive device of a lifting equipment further includes:

[0070] If the second angular velocity is greater than or less than a predetermined range, a prompt message will be output.

[0071] If the second angular velocity is greater than or less than a predetermined range, it indicates that the current value of the solenoid valve corresponding to the second angular velocity is too high or too low. Therefore, the current value of the solenoid valve needs to be reset to accurately control the angular velocity of the mast 100. Outputting prompts can alert operators or maintenance personnel, allowing them to promptly understand the current value of the solenoid valve. The lifting equipment is equipped with a prompting unit, which is electrically connected to the control system and is used to output prompting information. In this embodiment, the prompting unit is a buzzer, which is electrically connected to the control device, and the warning information is an audible alert. Of course, the specific type of the prompting unit is not limited to this; it can also be an indicator light, vibrator, or display. Correspondingly, the specific type of warning information is not limited to this; it can also be light, vibration, image, or text information.

[0072] In one embodiment of the present invention, before the step of gradually increasing the current value of the solenoid valve, the control method for the mast drive device of the lifting equipment further includes;

[0073] The winch on mast 100 is stopped to bring the rope to a standstill.

[0074] Since the mast 100 is lowered from 170° to its full position on the platform 300 (180°) via the retraction of the main luffing cylinder, if the winch continues to operate during the mast 100's leveling process, uneven tension on the wire rope may occur, leading to rope tangling. Rope tangling not only affects operational efficiency but can also damage equipment and increase safety hazards. Therefore, before gradually increasing the current value of the solenoid valve, it is necessary to first stop the winch on the mast 100 to bring the rope to a standstill, preventing rope tangling and improving operational safety.

[0075] In one embodiment of the present invention, while setting the current value corresponding to the first angular velocity as the operating current value of the solenoid valve, the control method for the mast drive device of the lifting equipment further includes:

[0076] The current value of the control solenoid valve stops increasing.

[0077] The higher the current value of the solenoid valve, the greater the angular velocity of mast 100. While setting the operating current value to match the solenoid valve's operating current value, to prevent the mast 100 from descending too rapidly, the current value of the solenoid valve needs to be controlled to stop increasing, further improving the safety of the operation.

[0078] In one embodiment of the present invention, the current value of the solenoid valve increases at a rate of A, wherein the value of A ranges from 2 to 7 mA / s. Specifically, the current value of the solenoid valve increases at a uniform rate. Preferably, the current value of the solenoid valve increases at a rate of 5 mA / s.

[0079] In a specific embodiment of the present invention, the control method for a mast drive device of a lifting equipment includes the following steps:

[0080] In step S100, when the mast 100 reaches the first predetermined angle, the winch of the mast 100 is controlled to stop working so that the rope is in a static state; the current value of the solenoid valve is gradually increased so that the main luffing cylinder retracts.

[0081] Step S200: Obtain the first angular velocity of mast 100;

[0082] Step S300: When the first angular velocity is within a predetermined range, the current value of the control solenoid valve stops increasing, and the current value corresponding to the first angular velocity is confirmed as the working current value of the solenoid valve.

[0083] Step S400: Control the solenoid valve to operate at the working current value;

[0084] Step S500: When the mast 100 reaches the second predetermined angle, obtain the second angular velocity of the mast 100;

[0085] Step S600: When the second angular velocity is within a predetermined range, the operating current value is set to the final operating current value of the solenoid valve.

[0086] The present invention also provides a current control device for the mast 100 lifting cylinder, comprising:

[0087] When the mast 100 reaches the first predetermined angle, the control module gradually increases the current value of the solenoid valve to retract the main luffing cylinder.

[0088] The module acquires the first angular velocity of mast 100;

[0089] 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.

[0090] The control method for a mast drive device of a lifting equipment provided by this 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 solenoid valve. This can prevent the mast 100 from failing to lower due to insufficient current in the lifting cylinder, or the mast 100 from lowering too quickly due to excessive current in the lifting cylinder. Since the working current value can be automatically determined, no manual resetting is required after replacing the solenoid valve with one of different current ranges, thus making operation more convenient.

[0091] The present invention also provides a lifting device, which includes the mast lifting cylinder current control device as described above.

[0092] like Figure 6 As shown, the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute a control method for a lifting equipment mast drive device, the method including:

[0093] In step S100, when the mast reaches the first predetermined angle, the current value of the control solenoid valve is gradually increased to cause the main luffing cylinder to retract.

[0094] Step S200: Obtain the first angular velocity of the mast;

[0095] Step S300: If 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.

[0096] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0097] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is able to execute the control method for a mast drive device of a lifting equipment provided by the above methods, the method comprising:

[0098] In step S100, when the mast reaches the first predetermined angle, the current value of the control solenoid valve is gradually increased to cause the main luffing cylinder to retract.

[0099] Step S200: Obtain the first angular velocity of the mast;

[0100] Step S300: If 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.

[0101] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for a mast drive device of a lifting device provided by the methods described above, the method comprising:

[0102] In step S100, when the mast reaches the first predetermined angle, the current value of the control solenoid valve is gradually increased to cause the main luffing cylinder to retract.

[0103] Step S200: Obtain the first angular velocity of the mast;

[0104] Step S300: If 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.

[0105] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0106] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a mast drive device of a lifting equipment, the lifting equipment comprising a lifting equipment body, a mast, a drive 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 drive 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 communicatively connected to the angle detection device and is used to receive signals from the angle detection device; the drive device is communicatively connected to the controller and is used to change the angle of the mast according to the instructions of the controller, characterized in that... When the detection device determines that the mast has reached a first predetermined angle, the controller controls the drive device to move; The current value of the control solenoid valve is gradually increased to cause the main luffing cylinder to retract. The drive device includes a main luffing lifting 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 movement of the drive device, the method further includes: Control the solenoid valve to operate at the working current value; When the mast (100) reaches the second predetermined angle, the second angular velocity of the mast (100) is obtained; When the second angular velocity is within the predetermined range, the operating current value is set as the final operating current value of the solenoid valve.

2. The control method for a mast drive device of a lifting equipment according to claim 1, characterized in that, Also includes: If the second angular velocity is greater than or less than the predetermined range, a prompt message will be output.

3. The control method for a mast drive device of a lifting equipment according to claim 1, characterized in that, Before the step of gradually increasing the current value of the solenoid valve, the method further includes: The winch of the mast (100) is stopped to bring the rope to a standstill.

4. The control method for a mast drive 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.

5. The control method for a mast drive device of a lifting equipment according to claim 2, characterized in that, The current value of the solenoid valve increases at a rate of A, where the value of A ranges from 2 to 7 mA / s.

6. A current control device for a mast lifting cylinder, characterized in that, include: When the mast reaches the first predetermined angle, the control module gradually increases the current value of the solenoid valve to retract the main luffing cylinder. The acquisition module acquires the first angular velocity of the mast; The confirmation module confirms the current value corresponding to the first angular velocity as the operating current value of the solenoid valve when the first angular velocity is greater than or equal to a predetermined value.

7. A lifting device, characterized in that, Includes the mast lifting cylinder current control device as described in claim 6.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the control method for a mast drive device of a lifting equipment as described in any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method for a mast drive device of a lifting equipment as described in any one of claims 1 to 5.

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