Load obtaining method and device of lifting device and lifting equipment

Abstract

The embodiment of the invention provides a load obtaining method and device of a lifting device and lifting equipment. The method comprises the steps that the output torque value of a motor in the lifting device and the radius of a winch component are obtained; wherein the motor is used for driving the winch component so as to drive a lifting platform in the lifting device to move; the load of the lifting platform is obtained according to the output torque value of the motor and the radius of the winch component; according to the calibration coefficient, the load of the lifting platform is calibrated to obtain a calibration load; the calibration coefficient is obtained based on the theoretical output torque value of the motor under the preset load and the measured actual output torque value. The method is used for improving the load obtaining accuracy of the lifting device.

Description

Technical Field

[0001] This application relates to the technology for obtaining the load of a lifting device, and particularly to a method, device, and lifting equipment for obtaining the load of a lifting device. Background Art

[0002] The hoisting maintenance lifting platform in the boiler furnace of a thermal power plant is driven by a hoisting motor to drive a long roller, which drags six hoisting steel wires to drive the lifting platform to realize the functions of lifting and lowering. How to obtain the load of the lifting platform and perform overload protection control based on the obtained load plays an important role in the operation safety of the lifting platform.

[0003] Currently, pin sensors are installed on the six guide wheels through which the six hoisting steel wires pass. Each pin sensor is used to detect the force on the corresponding steel wire, and the forces of the pin sensors are vectorially superimposed to obtain the load of the lifting platform. This method has the problem of inaccurate load acquisition results. Summary of the Invention

[0004] Embodiments of this application provide a method, device, and lifting equipment for obtaining the load of a lifting device, so as to improve the accuracy of obtaining the load of the lifting device.

[0005] In a first aspect, embodiments of this application provide a method for obtaining the load of a lifting device, including:

[0006] Obtain the output torque value of the motor and the radius of the hoisting component in the lifting device; wherein, the motor is used to drive the hoisting component to drive the lifting platform in the lifting device to move;

[0007] Obtain the load of the lifting platform according to the output torque value of the motor and the radius of the hoisting component;

[0008] Calibrate the load of the lifting platform according to a calibration coefficient to obtain a calibrated load; the calibration coefficient is obtained based on the theoretical output torque value of the motor under a preset load and the actually measured output torque value.

[0009] Optionally, the obtaining the load of the lifting platform according to the output torque value of the motor and the radius of the hoisting component specifically includes:

[0010] Obtain the load torque value of the motor according to the difference between the output torque value of the motor and the base torque value; wherein, the base torque value is determined based on the actually measured output torque value of the motor under no-load conditions;

[0011] Calculate the load of the lifting platform by dividing the load torque value of the motor by the product of the radius of the hoisting component and the acceleration due to gravity.

[0012] Optionally, the method further includes:

[0013] When the actual running load is no-load, control the lifting platform to rise until it reaches a state of uniform operation, and measure the actual output torque value of the motor to obtain the basic torque value.

[0014] Optionally, the method further includes:

[0015] Execute a calibration process to obtain the calibration coefficient; the calibration process includes:

[0016] Calculate the theoretical output torque value of the motor based on a preset load;

[0017] When the actual running load is the preset load, control the lifting platform to rise until it reaches a state of uniform operation, and measure the actual output torque value of the motor;

[0018] Based on the theoretical output torque value and the actual output torque value of the motor under the preset load, obtain the calibration coefficient.

[0019] Optionally, the obtaining the calibration coefficient based on the theoretical output torque value and the actual output torque value of the motor under the preset load specifically includes:

[0020] Calculate the difference between the actual output torque value of the motor and the basic torque value to obtain the preset load torque value;

[0021] Obtain the calibration coefficient according to the ratio of the preset load torque value to the theoretical output torque value.

[0022] Optionally, the method further includes:

[0023] Execute the calibration process multiple times to obtain the calibration coefficient under each calibration process;

[0024] Obtain the calibration coefficient by averaging the calibration coefficients under each calibration process.

[0025] Optionally, the calibrating the load of the lifting platform according to the calibration coefficient to obtain a calibrated load specifically includes:

[0026] Calculate the calibrated load by dividing the load of the lifting platform by the calibration coefficient.

[0027] Optionally, the method further includes:

[0028] If the calibrated load of the lifting platform exceeds a set protection threshold, perform overload protection,

[0029] And, if the calibration load of the lifting platform returns to the safe range, the overload protection is released.

[0030] Optionally, the lifting device further includes: an inverter electrically connected to the motor; the inverter is used to adjust the output torque value of the motor to adjust the lifting speed of the lifting platform;

[0031] Obtaining the output torque value of the motor specifically includes:

[0032] Reading the output torque value of the motor through the inverter.

[0033] In a second aspect, an embodiment of the present application provides a load acquisition device for a lifting device, including:

[0034] An acquisition module, configured to acquire the output torque value of the motor and the radius of the hoisting component in the lifting device; wherein, the motor is used to drive the hoisting component to drive the lifting platform in the lifting device to move;

[0035] A processing module, configured to obtain the load of the lifting platform according to the output torque value of the motor and the radius of the hoisting component;

[0036] A calibration module, configured to calibrate the load of the lifting platform according to a calibration coefficient to obtain a calibrated load; the calibration coefficient is obtained based on the theoretical output torque value of the motor under a preset load and the actually measured output torque value.

[0037] In a third aspect, an embodiment of the present application provides a lifting device, including a lifting device and the load acquisition device as described in the second aspect;

[0038] The lifting device includes: a motor, a hoisting component, and a lifting platform connected to the hoisting component; the motor is used to drive the hoisting component to drive the lifting platform to move.

[0039] The load acquisition method, device and lifting equipment of the lifting device provided by the embodiment of the present application improve the accuracy of measuring the actual load of the lifting platform by acquiring the output torque value of the motor and the radius of the hoisting component in the lifting device, and performing weight conversion and calibration. Description of the Drawings

[0040] The drawings here are incorporated into the specification and constitute a part of this specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0041] Figure 1 It is a schematic structural diagram of a lifting device provided by an embodiment of the present application;

[0042] Figure 2Schematic diagram of another lifting device provided by an embodiment of the present application;

[0043] Figure 3 Flowchart of a method for obtaining the load of a lifting device provided by an embodiment of the present application;

[0044] Figure 4 Flowchart of another method for obtaining the load of a lifting device provided by an embodiment of the present application;

[0045] Figure 5 Flowchart of a third method for obtaining the load of a lifting device provided by an embodiment of the present application;

[0046] Figure 6 Schematic diagram of a lifting device provided by an embodiment of the present application;

[0047] Figure 7 Schematic diagram of a display interface provided by an embodiment of the present application;

[0048] Figure 8 Schematic diagram of another display interface provided by an embodiment of the present application;

[0049] Figure 9 Schematic diagram of a third lifting device provided by an embodiment of the present application;

[0050] Figure 10 Schematic diagram of a fourth lifting device provided by an embodiment of the present application;

[0051] Figure 11 Schematic diagram of a load acquisition device for a lifting device provided by an embodiment of the present application;

[0052] Figure 12 Schematic diagram of an electronic device provided by an embodiment of the present application.

[0053] Explanation of reference numerals:

[0054] 1: Motor; hoisting winch 11; 12: Horizontal pulley; 13: Fixed pulley; 14 Platform lifting point; 2: Hoisting component; 3: Lifting platform; 4: Frequency converter; drum 21; 22: Bearing seat; 23: Bearing; 24: Base; 25: Hydraulic brake; 26: Reducer; 27: Horizontal pulley; 28: Fixed pulley; 29 Control cabinet; 31: Caliper disc brake; 32: Hydraulic station.

[0055] Through the above drawings, specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and written descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed description of the invention

[0056] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0057] In a thermal power plant, the boiler furnace is the core part of the boiler. Fuels such as coal and oil burn in the furnace to release a large amount of heat energy. The heat energy generated by combustion heats the water in the boiler, converting it into high-temperature and high-pressure steam to drive the steam turbine for power generation. The working state of the furnace affects the stable and efficient operation of the power plant. To keep the furnace in good working condition, it is necessary to regularly repair and maintain the furnace.

[0058] The internal structure of the boiler furnace is complex and relatively high. By controlling the lifting of the lifting platform, it can help maintenance personnel safely reach the parts in the furnace that need to be repaired or maintained, reduce the risk of working at heights, and ensure the safety of personnel during the repair process. Also, when installing or replacing equipment or components inside the furnace, the lifting platform helps to carry heavy equipment.

[0059] The winch-type lifting device in the boiler usually consists of a winch motor driving a long roller, dragging six winch steel wires through 6 guide wheels, and dragging the lifting platform to achieve the functions of lifting and lowering.

[0060] Figure 1 A schematic structural diagram of a lifting device provided by an embodiment of the present application is as Figure 1 shown. The specific application scenario of the present application is to obtain the load of the lifting platform.

[0061] As Figure 1 shown, the lifting device includes: a motor 1, a winch component 2, and a lifting platform 3.

[0062] The motor 1 can be, for example, any device capable of converting electrical energy into mechanical energy, and can include, for example, any one of: an AC motor, a DC motor, a stepper motor, a servo motor, etc.

[0063] The winch component 2 can be, for example, any component that can rotate forward and backward. It can include, for example, any one of: a winch drum, a winch wheel, etc.

[0064] The lifting platform 3 can be, for example, any platform that can carry heavy objects.

[0065] The motor 1 is connected to the hoisting component 2, and the hoisting component 2 is connected to the lifting platform 3. For example, the motor 1 can be connected to the hoisting component 2 through a shaft. Multiple steel wire ropes can be wound around the hoisting component 2, and the steel wire ropes are connected to the lifting platform 3 through connecting components, and the connecting components can be, for example, hooks. In one example, the motor 1 can be directly connected to the hoisting component 2 through a shaft; or the motor 1 can be connected to a speed reducer through a coupling, and the speed reducer is connected to the hoisting component 2 through an output shaft. The motor 1 drives the hoisting component 2 through the speed reducer.

[0066] The motor 1 is used to drive the hoisting component 2 to drive the lifting platform 3 to move. For example, the motor 1 can drive the hoisting component 2 to rotate clockwise or counterclockwise. The hoisting component 2 can wind or release the steel wire rope when rotating. For example, the hoisting component 2 can wind the steel wire rope when rotating clockwise and release the steel wire rope when rotating counterclockwise; or, the hoisting component 2 can wind the steel wire rope when rotating counterclockwise and release the steel wire rope when rotating clockwise, and the embodiments of the present application do not limit this. When the hoisting component 2 winds the steel wire rope, it can drive the lifting platform 3 to rise, and when releasing the steel wire rope, it can drive the lifting platform 3 to descend.

[0067] Further, the lifting device may further include: a frequency converter 4 electrically connected to the motor 1;

[0068] The frequency converter 4 can be, for example, any device capable of adjusting the output frequency of the power supply.

[0069] The frequency converter 4 is electrically connected to the motor 1, and the frequency converter 4 is used to adjust the output torque value of the motor 1 to adjust the lifting speed of the lifting platform 3.

[0070] Figure 1 Only the components related to the embodiments of the present application in the lifting device are shown. The embodiments of the present application only exemplarily illustrate the functions related to the present application. In specific implementation, whether the lifting device has other components and other functions is not limited by the embodiments of the present application.

[0071] The rated load of the motor 1 refers to the maximum load that the motor 1 can continuously drive under normal working conditions. Exceeding this load may cause the performance of the motor 1 to decline or be damaged. Therefore, when the actual load of the lifting device reaches the rated load that the motor 1 can bear, overload protection needs to be carried out on the operation of the motor 1 to ensure the safe operation of the motor 1. For example, when the actual load exceeds the rated load, stop continuing to act in the unsafe direction, or issue a warning message, and allow operation in the safe direction, etc.

[0072] The key to realizing overload protection for the motor 1 lies in accurately measuring the actual load of the lifting platform 3. If the measured load cannot accurately reflect the true weight of the heavy object on the lifting platform 3, effective overload protection cannot be provided.

[0073] In summary, how to accurately measure the actual load of the lifting platform has become an urgent problem to be solved.

[0074] Figure 2 FIG. is a schematic structural diagram of another lifting device provided by an embodiment of the present application. As Figure 2 shown, the winch-type lifting platform includes: a winch component 2, a horizontal pulley 12, a fixed pulley 13, and a platform lifting point 14. The winch component 2 includes a hoisting winch 11. A pin shaft sensor is installed on each of the 6 fixed pulleys 13, and each pin shaft sensor detects the force applied to the fixed pulley 13. By performing vector superposition on the data detected by the 6 pin shaft sensors, the load of the lifting platform 3 can be detected.

[0075] This method has the following technical problems:

[0076] (1) The 6 guide wheels are usually installed on the top of the boiler. During the operation of the boiler, the pin shaft sensors installed in the guide wheels are in a high temperature environment for a long time, such as 50 - 70 degrees. The electronic components of the pin shaft sensors cannot be stored or operated for a long time in a high temperature state and are extremely easy to be damaged.

[0077] (2) The installation positions of the guide wheels of the 6 steel wire ropes of the winch-type lifting device are greatly affected by the on-site environment. It is difficult to ensure that the pin shaft sensors installed in the 6 guide wheels are on a horizontal plane, resulting in non-linear vector superposition of the forces on the pin shaft sensors. At the same time, due to the elasticity of the steel wire ropes, the forces on the pin shaft sensors are non-linear with respect to gravity, affecting the measurement accuracy.

[0078] (3) The installation and use costs of the pin shaft sensors are relatively high.

[0079] In view of this, an embodiment of the present application provides a method for obtaining the load of a lifting device. By obtaining the output torque value of the motor and the radius of the winch component, the load of the lifting platform is calculated; then, after calibrating the load of the lifting platform to obtain a calibrated load, the actual load of the lifting platform is obtained.

[0080] The execution subject of the embodiment of the present application can be a processor, or a device or electronic equipment installed with a processor. The embodiment of the present application takes the processor as an example for illustration.

[0081] The following uses specific embodiments to elaborate in detail on the technical solution of the present application and how the technical solution of the present application solves the above technical problems. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The following will describe the embodiments of the present application in conjunction with the drawings.

[0082] Figure 3 FIG. is a schematic flow chart of a method for obtaining the load of a lifting device provided by an embodiment of the present application. AsFigure 3 shown in combination with Figure 1 the lifting device shown in the figure, the method includes:

[0083] S301. The processor obtains the output torque value of the motor 1 and the radius of the hoisting component in the lifting device; wherein, the motor 1 is used to drive the hoisting component 2 to drive the lifting platform 3 in the lifting device to move;

[0084] The output torque value of the motor 1 can be obtained through a torque measuring device, for example, a torque sensor, a dynamic torque meter, etc. In an application where the lifting device includes an inverter 4 connected to the motor 1, the processor can read the output torque value of the motor 1 through the inverter 4. For example, the processor can obtain the output torque value of the motor 1 by establishing a communication connection with the inverter 4 and reading the data of the inverter 4 through a communication interface. The processor can establish a communication connection with the inverter 4 through RS485 or CAN communication, for example. The radius of the hoisting component 2 can be obtained by measuring or reading the product manual, for example.

[0085] S302. The processor obtains the load of the lifting platform 3 according to the output torque value of the motor 1 and the radius of the hoisting component 2;

[0086] In the motor control principle, the calculation formula for the output torque value of the motor 1 is:

[0087]

[0088] where, F is the output torque value of the motor, in Nm (Newton-meter); P is the motor power, in KW (Kilowatt); N is the rated speed of the motor, in r / min (revolutions per minute); among them, the reduction ratio, efficiency, and motor power are all constant values, and in variable frequency speed regulation, 0 - 50Hz is the constant torque characteristic. For the application scenario of lifting heavy objects, the relationship between the output torque value and the load weight can be:

[0089] F = mgR

[0090] where, F is the output torque value of the motor, in Nm (Newton-meter); m is the mass of the object, in Kg (Kilogram); g is the acceleration due to gravity.

[0091] Therefore, the output torque value of the motor 1 has a linear relationship with the load weight.

[0092] Therefore, after obtaining the output torque value of the motor 1, the load of the lifting platform 3 can be calculated by dividing the torque value of the motor 1 by the product of the radius of the hoisting component 2 and the acceleration due to gravity.

[0093] S303. The processor calibrates the load of the lifting platform 3 according to the calibration coefficient to obtain the calibrated load; the calibration coefficient is obtained based on the theoretical output torque value of the motor 1 under the preset load and the actually measured output torque value.

[0094] Since there will be mechanical friction during the operation of the lifting platform 3, the relationship between the output torque value of the motor 1 and the gravity value of the object can include:

[0095] (1) When the lifting platform 3 hovers: the output torque value of the motor 1 = the gravity value.

[0096] (2) When the lifting platform 3 ascends at a constant speed: the output torque value of the motor 1 = the gravity value + mechanical friction.

[0097] (3) When the lifting platform 3 descends at a constant speed: the output torque value of the motor 1 = the gravity value - mechanical friction.

[0098] (4) When the lifting platform 3 ascends and accelerates: the torque value of the motor 1 > the gravity value + mechanical friction. Specifically, it can be: the torque value of the motor 1 - the gravity value - mechanical friction = MA. Where M is the gravity value of the object; A is the acceleration due to gravity.

[0099] (5) When the lifting platform 3 descends and accelerates: the torque value of the motor 1 < the gravity value - mechanical friction. Specifically, it can be: the gravity value - mechanical friction - the torque value of the motor 1 = MA. Where M is the gravity value of the object; A is the acceleration due to gravity.

[0100] After obtaining the load based on the output torque value of the motor 1, calibrating the load can comprehensively consider the influence of various external factors on the load and improve the accuracy of the obtained load.

[0101] The load acquisition method of the lifting device provided by the embodiments of the present application, by obtaining the output torque value of the motor in the lifting device and the radius of the hoisting component, and performing weight conversion and calibration through conversion, improves the accuracy of measuring the actual load of the lifting platform. This method does not require the use of a pin shaft sensor, saves costs, and avoids the risk of the pin shaft sensor being easily damaged at high temperatures.

[0102] Figure 4 It is a schematic flowchart of another load acquisition method of the lifting device provided by the embodiments of the present application. As Figure 4 shown, on the basis of the Figure 3 embodiment, the load acquisition method is described in detail.

[0103] S401. When the actual running load is no-load, the processor controls the lifting platform 3 to rise until it reaches a state of uniform motion, and measures the actual output torque value of the motor 1 to obtain the basic torque value.

[0104] When the actual operating load is no-load, the motor 1 mainly bears the weight of the lifting platform 3 itself and the weight of the connecting components. At this time, by measuring the actual output torque value of the motor 1, the basic torque value can be obtained, and the basic torque value corresponds to the weight of the lifting platform 3 itself and the weight of the connecting components.

[0105] Since the lifting platform 3 needs to overcome the mechanism friction during the ascending process, which will increase the external resistance that the motor 1 needs to overcome, it is more effective to detect whether the load of the lifting platform 3 exceeds the rated load during the ascending process to detect overloading in time and perform overload protection in case of overloading. When the lifting platform 3 accelerates upward, it may cause an instantaneous increase in the load. Since the time of upward acceleration is very short, it can be considered that it will not affect the safety of the continuous operation of the motor 1. Therefore, when performing overload protection on the motor 1, the load is usually measured when the lifting platform 3 is ascending at a constant speed.

[0106] S402. The processor executes a calibration process to obtain a calibration coefficient;

[0107] By executing the calibration process, a calibration coefficient is obtained. Then, based on the calibration coefficient, the load of the lifting platform 3 is calibrated to obtain a calibrated load, which can superimpose the influence of friction, and the measured actual load is more accurate.

[0108] S403. The processor obtains the output torque value of the motor 1 and the radius of the hoisting component 2 in the lifting device.

[0109] S404. The processor obtains the load torque value of the motor 1 according to the difference between the output torque value of the motor 1 and the basic torque value; wherein, the basic torque value is determined based on the actual output torque value of the motor 1 measured under no-load conditions.

[0110] Since the load weight = (hook weight + wire rope weight) + the weight of the loaded items.

[0111] The weight directly converted through the formula based on the output torque value of the motor 1 includes the total weight of the load connected to the motor 1. When no items are loaded on the lifting platform 3, the measured load includes the weight of the lifting platform 3 itself and the weight of the connecting components (including the hook weight, the weight of the wire rope, etc.). At this time, the load is not zero. To improve the measurement accuracy and ensure that the measured load is zero when no items are loaded on the lifting platform 3, it is necessary to subtract the basic torque value from the output torque value of the motor 1 to obtain the load torque value corresponding to the load (i.e., zeroing the weighing body). Then, based on the load torque value, through formula conversion, the weight of the items loaded in the lifting platform 3 can be obtained. The measurement accuracy is improved.

[0112] S405. The processor calculates the load of the lifting platform 3 by dividing the load torque value of the motor 1 by the product of the radius of the hoisting component 2 and the gravitational acceleration.

[0113] Since the load torque value is the weight of the lifting platform 3 itself and the weight of the connecting components minus the load torque value, the load of the lifting platform 3, that is, the weight of the objects actually loaded on the lifting platform 3, can be obtained by dividing the load torque value by the product of the radius of the hoisting component 2 and the gravitational acceleration.

[0114] S406: The processor calculates the calibration load by dividing the load of the lifting platform 3 by the calibration coefficient.

[0115] After calibration, the relationship between the output torque value of motor 1 and the load can be expressed as:

[0116] F=βmgR

[0117] Wherein, F is the output torque value of the motor 1, in Newton-meter (Nm); m is the mass of the object, in kilograms (Kg); g is the acceleration due to gravity; and β is the calibration coefficient.

[0118] Therefore, the calibrated load can be obtained by dividing the load of the lifting platform 3 by the calibration coefficient.

[0119] If the calibrated load of the lifting platform 3 exceeds the set protection threshold, overload protection can be performed. For example, if the calibrated load of the lifting platform 3 exceeds the set protection threshold, it means that the maximum torque or power that the motor can withstand has been reached. At this time, the motor 1 can be controlled to stop rotating to stop the lifting platform from rising, or the motor 1 can be controlled to reverse the direction of rotation to make the lifting platform 3 descend, or a warning signal can be issued, etc., so as to protect the motor 1 from being damaged by overload.

[0120] If the calibrated load of the lifting platform 3 returns to a safe range, the overload protection is released.

[0121] If the calibrated load of the lifting platform 3 returns to a safe range, it means that it is now within the maximum torque or power range that the motor 1 can withstand. At this time, the overload protection is triggered and the lifting device resumes normal operation.

[0122] In summary, the load acquisition method provided in the embodiment of the present application obtains the load torque value by taking the difference between the output torque value of the motor and the basic torque value, which can remove the weight of the lifting platform itself and the weight of the connecting parts. The load calculated according to the load torque value corresponds to the weight of the object actually loaded on the lifting platform. The load is then calibrated to obtain the actual load corresponding to the object actually loaded on the lifting platform.

[0123] Figure 5 A schematic diagram of a flow chart of a load acquisition method for a third lifting device provided in an embodiment of the present application, such as Figure 5 As shown, the method may include the following steps:

[0124] S501. The processor calculates the theoretical output torque value of Motor 1 based on a preset load.

[0125] For example, the preset load can be a fixed value, such as including a 100 Kg weight or object. According to the formula F = mgR, the theoretical output torque value of Motor 1 can be calculated, for example, it can be expressed as F1.

[0126] S502. When the actual operating load is the preset load, the processor controls the lifting platform 3 to rise until it reaches a uniform running state, and measures the actual output torque value of Motor 1.

[0127] At this time, the measured actual output torque value of Motor 1 incorporates the influence of external factors, such as the influence of friction. The measured actual output torque value of Motor 1 can be expressed as F2, for example.

[0128] S503. The processor obtains a calibration coefficient based on the theoretical output torque value and the actual output torque value of Motor 1 under the preset load.

[0129] The calibration coefficient β can reflect the coefficient relationship between the actual output torque value and the theoretical output torque value.

[0130] As an example, S503 can specifically include the following steps:

[0131] S5031. The processor calculates the difference between the actual output torque value of Motor 1 and the base torque value to obtain the preset load torque value.

[0132] The base torque value can be expressed as F0, which represents the torque value output by Motor 1 when the lifting platform 3 is unloaded. At this time, the load torque value can be expressed as F2 - F0. The output torque value of Motor 1 corresponding to the preset load can be obtained.

[0133] S5032. The processor obtains the calibration coefficient according to the ratio of the preset load torque value to the theoretical output torque value.

[0134] The calibration coefficient can be β = (F2 - F0) / F1. In this way, the influence of the weight of the lifting platform 3 itself and the weight of the connecting components on the calibration coefficient can be removed.

[0135] After that, when the lifting platform 3 is actually operating, the actual load of the lifting platform 3 can be calibrated by dividing the actual output torque value of Motor 1 by this calibration coefficient, and then overload protection can be performed according to the actual load.

[0136] Further, when the calibration coefficient is measured, the calibration coefficient can be calculated by a single measurement, which is simple to implement; or by multiple measurements to obtain the calibration coefficient, which can reduce errors and improve the measurement accuracy. The following describes how to obtain the calibration coefficient by multiple measurements.

[0137] (1) The processor can execute the calibration process multiple times to obtain the calibration coefficient for each calibration process.

[0138] For example, the processor can execute steps S601 - S603 multiple times to obtain the calibration coefficient for each calibration process.

[0139] Among them, the size of the preset load for each calibration process can be the same or different, and the embodiments of the present application do not limit this.

[0140] (2) The processor obtains the calibration coefficient by averaging the calibration coefficients for each calibration process.

[0141] For example, the processor can record the calibration coefficient obtained each time. The processor can sum the calibration coefficients for each calibration process and then divide by the number of executions of the calibration process to obtain the calibration coefficient, which is easy to implement.

[0142] Alternatively, the processor can remove the maximum and minimum values from the recorded calibration coefficients for each calibration process to reduce the influence of outliers on the final average value, which is also called outlier removal processing. Sum the calibration coefficients after removing the extreme values, and then divide by the number of remaining calibration coefficients (i.e., the number of executions of the calibration process minus the number of removed extreme values) to obtain the calibration coefficient.

[0143] Executing the calibration process multiple times can average the measured values of these calibration coefficients, reduce errors, and further improve the accuracy of the calibration coefficient.

[0144] In summary, the calibration process provided by the embodiments of the present application can obtain the calibration coefficient between the actual output torque value and the theoretical output torque value of the motor at the preset load.

[0145] Figure 6 FIG. [Number] is a schematic structural diagram of a lifting device provided by an embodiment of the present application. As Figure 6 shown, the lifting device includes: a lifting device, a load acquisition device; the lifting device includes: a motor 1, a hoisting component 2, a lifting platform 3, and a frequency converter 4. Among them, the lifting platform 3 is Figure 7 not shown in [Figure number].

[0146] The motor 1 includes a top hoist motor, the hoisting component 2 includes a hoisting drum, and the lifting platform 3 includes an in-furnace maintenance platform, also called an operation platform or a maintenance platform.

[0147] The top-of-furnace hoisting motor is connected to the hoisting drum; the hoisting drum is connected to the in-furnace maintenance platform; the frequency converter 4 is electrically connected to the top-of-furnace hoisting motor; the PLC is communicatively connected to the frequency converter 4 through the RS485 communication interface.

[0148] The load acquisition device includes: a processor. Figure 6 Taking the processor including a Programmable Logic Controller (PLC) as an example.

[0149] The PLC and the input device establish a communication connection through Ethernet. Figure 6 Taking the input device including a Human-Machine Interface (HMI) as an example for illustration.

[0150] The load acquisition process of the load acquisition device is as follows:

[0151] (1) When the operator controls the lifting or lowering of the in-furnace maintenance platform through the buttons on the HMI human-machine interaction system, the frequency converter 4 drives the top-of-furnace hoisting motor to rotate forward (lifting) or reverse (lowering). The PLC reads the data of the frequency converter 4 in real time through the RS485 communication to obtain the output torque value F of the motor 1.

[0152] (2) The PLC calculates the value of the load m (unit: Kg) according to the relationship between the output torque value of the motor 1 and the load weight. The relationship between the output torque value of the motor 1 and the load weight is F = βmgR, where F represents the output torque value of the motor, unit: Nm; m represents the load, unit: Kg; β is a calibration parameter, which is obtained by calibrating the data during the in-furnace maintenance platform loading test.

[0153] (3) If the PLC detects that the load > 90% of the rated load, it displays an audible and visual warning signal through the HMI human-machine interaction system, for example, it can be a yellow warning signal; if the PLC detects that the load > 110% of the rated load, the PLC can terminate the instruction in the dangerous direction (such as continuing to rise), and only allow reverse actions (such as lowering) to relieve the overloading state.

[0154] (4) The operator can select a lowering instruction by operating the master switch, and the PLC responds to the lowering instruction to control the in-furnace maintenance platform to lower. After releasing the load to a safe range, the PLC controls the lifting device to resume normal operation.

[0155] Further, the frequency converter 4 can be connected to a closed-loop encoder provided on the top furnace hoist motor; the closed-loop encoder detects the rotational position, speed, angle, etc. of the top furnace hoist motor, converts them into electrical signals, and sends the electrical signals to the frequency converter 4. The frequency converter 4 can achieve the zero servo function of the frequency converter according to the feedback electrical signals and the operation instruction signals, ensuring that the motor 1 can also safely lower the maintenance platform to the ground slowly through the frequency converter 4 when the mechanical brake fails.

[0156] The PLC is connected to a speed measurement encoder provided on the hoisting drum; the speed measurement encoder is used to measure the rotational speed and displacement of the hoisting drum. The PLC can perform control operations according to the rotational speed of the hoisting drum to achieve the height display and overspeed protection of the operation platform.

[0157] A low-speed brake is also provided on the hoisting drum. When the top furnace hoist motor stops running, the low-speed brake brakes to lock the position of the hoisting drum, achieving the redundancy of the double brakes and preventing the maintenance platform in the furnace from sliding down.

[0158] The load acquisition device may further include a data terminal unit (Data Terminal Unit, DTU). The data terminal unit DTU is connected to the remote monitoring platform through cloud Internet of Things, and the remote monitoring platform can monitor the operating status of the lifting device.

[0159] The lifting equipment may further include an AD acquisition and an inclination sensor. The inclination sensor is connected to the PLC through AD acquisition. The inclination sensor is used to detect the angles at which the lifting platform 3 tilts relative to the X and Y axes of the earth's gravity direction. The AD acquisition converts the measurement data of the inclination sensor into digital signals and transmits them to the PLC. The PLC can detect whether the lifting platform 3 operates safely and smoothly according to the digital signals.

[0160] Figure 7 A schematic diagram of a display interface provided by an embodiment of the present application is as Figure 7 shown, in combination with Figure 6 the lifting equipment shown, this display interface is used to calibrate the lifting platform.

[0161] The display interface includes: an "overweight set value" icon, an "overweight original code value" icon, and a "β display value" icon; a "current load" icon, a "running speed" icon, a "platform height" icon, etc.

[0162] The "overweight set value" icon is used to display the value of the preset load;

[0163] The "overweight original code value" icon is used to display the value of the actually measured load;

[0164] The "β display value" icon is used to display the calibration coefficient;

[0165] The "Current Load" icon is used to display the real-time load of the maintenance platform inside the furnace, with the unit of ton (T).

[0166] The "Operating Speed" icon is used to display the operating speed of the maintenance platform inside the furnace, with the unit of meter per minute (m / min).

[0167] The "Platform Height" icon is used to display the height to which the maintenance platform inside the furnace is lifted, with the unit of millimeter (mm).

[0168] The calibration process of the lifting platform may include:

[0169] The operator inputs the preset load value through the input device to the label corresponding to the "Weight Set Value" icon on the display interface. For example, it can be 12 Kg.

[0170] The operator controls the lifting of the maintenance platform inside the furnace through the up button on the HMI human-machine interaction system. When the value corresponding to the "Operating Speed" icon shows that the maintenance platform inside the furnace reaches a constant speed, click the "Weight Calibration" button. The PLC obtains the output torque value F of the furnace top hoist motor. The PLC calculates the load corresponding to the output torque value of motor 1 according to F = mgR and displays it through the label corresponding to the "Weight Original Code Value" icon. The PLC calculates the calibration coefficient β according to the ratio of the output torque value to the theoretical output torque value of the preset load and displays it through the label corresponding to the "β Display Value" icon.

[0171] Figure 8 This is a schematic diagram of another display interface provided by the embodiment of the present application, in combination with Figure 6 the lifting equipment shown in Figure 8 As shown, this display interface is used to display the operating state of the lifting platform 3.

[0172] The "Current Load" icon is used to display the real-time load of the maintenance platform inside the furnace, with the unit of ton (T);

[0173] The "Operating Speed" icon is used to display the operating speed of the maintenance platform inside the furnace, with the unit of meter per minute (m / min);

[0174] The "Platform Height" icon is used to display the height to which the maintenance platform inside the furnace is lifted, with the unit of millimeter (mm).

[0175] The working parameter module displays the operating state of the furnace top hoist motor;

[0176] Among them, the "Working Frequency" icon is used to display the actual operating frequency of the furnace top hoist motor, with the unit of hertz (Hz). For example, the PLC can obtain the operating frequency of motor 1 by reading the data of the frequency converter 4 and display it through the label corresponding to the "Working Frequency" icon.

[0177] The top furnace hoist motor outputs constant torque at 0 - 50 Hz. At this time, the output torque value of the top furnace hoist motor is only linearly related to the load weight of the in-furnace maintenance platform. When controlling the lifting of the maintenance platform, the "working frequency" icon can be used to determine whether the maintenance platform has reached a uniform speed state. For example, when the top furnace hoist motor is at 30 - 50 Hz, it can be confirmed that the maintenance platform is in a uniform speed state.

[0178] The "working current" icon is used to display the actual operating current of the top furnace hoist motor, with the unit of ampere (A). For example, the PLC can obtain the operating current of the motor by reading the data of the frequency converter 4 and display it on the label corresponding to the "working current" icon. The value displayed by the "working current" can be used to monitor whether the operating state of the top furnace hoist motor is normal.

[0179] The "working torque" icon is used to display the output torque value of the top furnace hoist motor, with the unit of Nm. For example, the PLC can obtain the output torque value of the motor 1 by reading the data of the frequency converter 4 and display it on the label corresponding to the "working torque" icon.

[0180] The "operation mode" icon is used to display the operation mode, which can include, for example, out-of-furnace operation, in-furnace operation, etc.

[0181] The working time module displays the operating time of the maintenance platform.

[0182] The "single operation time" is used to display the operating time of the maintenance platform for a single maintenance work. For example, the PLC can start timing at the beginning of a single maintenance and stop timing at the end of the single maintenance to obtain the single operation time of the maintenance platform, and display it on the label corresponding to the "single operation time". The PLC adds up the operating time of the maintenance platform each time to obtain the total operating time and displays it on the label corresponding to the "total operating time". By displaying the operating time of the maintenance platform, maintenance and repair of the maintenance device can be carried out as needed.

[0183] Figure 9 This is the structural schematic diagram of the third lifting device provided by the embodiment of the present application, as Figure 9 shown, including: motor 1, hoisting component 2, and the hoisting component 2 is, for example, a drum 21; bearing seat 22, bearing 23, base 24, hydraulic brake 25, reducer 26, horizontal pulley 27, fixed pulley 28, control cabinet 29, lifting platform 3, and frequency converter 4. Among them, the frequency converter 4 Figure 9 is not shown. Among them, a pin shaft sensor can be installed at the fixed pulley 28.

[0184] The frequency converter 4 is electrically connected to the motor 1; the motor 1 is connected to the speed reducer 26 through a coupling; the speed reducer 26 is connected to the winding drum 21 through an output shaft; multiple steel wire ropes are wound on the surface of the winding drum 21, and the number of steel wire ropes is usually 3 or more, usually 6; the steel wire ropes are connected to the lifting platform 3 through a pulley block composed of a horizontal pulley 27 and a fixed pulley 28, for example, the pulley block is connected to the lifting platform 3 through a suspension point; the hydraulic brake 25 is connected to the speed reducer 26;

[0185] The bearing housing 22 is installed on the base 24, and the bearing 23 is installed on the bearing housing. The bearing 23 is used to support the output shaft. The bearing housing 22 is used to provide a stable installation position for the bearing 23.

[0186] The lifting control principle of the lifting device can be shown as follows:

[0187] (1) Motor 1 starts: The user can trigger the PLC to send a start command to the frequency converter 4 through the button on the control cabinet 29, and the frequency converter 4 drives the motor 1 (such as a three-phase asynchronous motor) to start and output rotational power.

[0188] (2) Speed reduction and torque increase: The output shaft of the motor 1 is connected to the speed reducer 26 through a coupling. The speed reducer 26 converts the high speed and low torque of the motor 1 into low speed and high torque according to the reduction ratio, and the increased torque enables the motor 1 to bear a greater load.

[0189] (3) Winding drum 21 rotates: The output shaft of the speed reducer 26 drives the winding drum 21 (which can be a hoisting roller, for example) to rotate.

[0190] (4) Steel wire rope winding and unwinding: When the winding drum 21 rotates, the steel wire ropes are wound or released in a specific direction (clockwise / counterclockwise), and the change in the length of the steel wire ropes controls the lifting and lowering of the lifting platform 3.

[0191] (5) Pulley block guiding: The steel wire ropes change direction through the top horizontal pulley 27 and the fixed pulley 28 to form a multi-rope synchronous traction structure, and are wound and unwound synchronously to prevent the lifting platform 3 from tilting.

[0192] (6) Lifting and lowering of the lifting platform:

[0193] The lifting platform 3 rises: The winding drum 21 rotates clockwise, the steel wire ropes are tightened, and the platform is pulled vertically upward through the horizontal pulley and the fixed pulley.

[0194] The lifting platform 3 descends: The winding drum 21 rotates counterclockwise, the steel wire ropes are released, and the lifting platform 3 descends vertically under the action of its own gravity. The speed of the motor 1 can be adjusted through the frequency converter 4 to control the descending speed of the lifting platform 3.

[0195] The lifting platform 3 hovers and holds: The motor 1 stops running, the hydraulic brake 25 automatically clamps the speed reducer 26 to lock the position of the winding drum 21 and prevent the lifting platform 3 from sliding down.

[0196] Figure 10 This is a schematic structural diagram of the fourth lifting device provided by the embodiments of the present application. As Figure 10 shown, the lifting device includes: a motor 1, a speed reducer 26, a hydraulic brake 25, a base 24, a drum 21, a bearing housing 22, a bearing 23, a disc brake 31, and a hydraulic station 32.

[0197] The motor 1 is connected to the speed reducer 26 through a coupling; the speed reducer 26 is connected to the drum 21 through an output shaft; the hydraulic brake 25 is connected to the speed reducer 26; the disc brake 31 is connected to the drum 21 and is used to control the rotation speed of the drum 21.

[0198] The bearing housing 22 is installed on the base 24, and the bearing 23 is installed on the bearing housing. The bearing 23 is used to support the output shaft. The bearing housing 22 is used to provide a stable installation position for the bearing 23.

[0199] The hydraulic station 32 is used to provide hydraulic power for the hydraulic brake 25.

[0200] Figure 10 For the lifting control principle of the shown lifting device, reference can be made to Figure 9 the method in the embodiments, which will not be elaborated here.

[0201] Figure 11 This is a schematic structural diagram of a load acquisition device for a lifting device provided by the embodiments of the present application. As Figure 11 shown, the device includes: an acquisition module 1101, a processing module 1102, and a calibration module 1103.

[0202] The acquisition module 1101 is used to obtain the load of the lifting platform 33 according to the output torque value of the motor 1 and the radius of the hoisting component 2;

[0203] The processing module 1102 is used to obtain the load of the lifting platform 3 according to the output torque value of the motor 1 and the radius of the hoisting component 2;

[0204] The calibration module 1102 is used to calibrate the load of the lifting platform 3 according to the calibration coefficient to obtain the calibrated load; the calibration coefficient is obtained based on the theoretical output torque value of the motor 1 under the preset load and the measured actual output torque value.

[0205] In a possible implementation, the processing module 1102 is specifically used to obtain the load torque value of the motor 1 according to the difference between the output torque value of the motor 1 and the base torque value; wherein, the base torque value is determined based on the actual output torque value of the motor 1 measured under no-load conditions;

[0206] The load of the lifting platform 3 is calculated by dividing the load torque value of the motor 1 by the product of the radius of the hoisting component 2 and the gravitational acceleration.

[0207] In a possible implementation, the processing module 1102 is also used to control the lifting platform 3 to rise until it reaches a uniform speed when the actual operating load is no-load, and measure the actual output torque value of the motor 1 to obtain a basic torque value.

[0208] In a possible implementation, the processing module 1102 is further configured to execute a calibration process to obtain a calibration coefficient; the calibration process includes:

[0209] The theoretical output torque value of the motor 1 is calculated based on the preset load;

[0210] When the actual operating load is the preset load, the lifting platform 3 is controlled to rise until it reaches a state of uniform speed operation, and the actual output torque value of the motor 1 is measured;

[0211] Based on the theoretical output torque value and the actual output torque value of the motor 1 under the preset load, a calibration coefficient is obtained.

[0212] In a possible implementation, the processing module 1102 is specifically used to calculate the difference between the actual output torque value of the motor 1 and the basic torque value to obtain a preset load torque value;

[0213] The calibration coefficient is obtained according to the ratio of the preset load torque value and the theoretical output torque value.

[0214] In a possible implementation, the processing module 1102 is further configured to execute the calibration process multiple times to obtain the calibration coefficient under each calibration process;

[0215] The calibration coefficient is obtained by averaging the calibration coefficients under each calibration process.

[0216] In a possible implementation, the calibration module 1103 is specifically configured to calculate the calibration load by dividing the load of the lifting platform 3 by the calibration coefficient.

[0217] In a possible implementation, the processing module 1102 is further configured to execute overload protection if the calibrated load of the lifting platform 3 exceeds a set protection threshold.

[0218] And, if the calibrated load of the lifting platform 3 is restored to a safe range, the overload protection is released.

[0219] In a possible implementation, the lifting device also includes: a frequency converter 4 electrically connected to the motor 1; the frequency converter 4 is used to adjust the output torque value of the motor 1 to adjust the lifting speed of the lifting platform 3; and an acquisition module 1101, which is specifically used to read the output torque value of the motor 1 through the frequency converter 4.

[0220] The load acquisition device of the lifting device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effects are similar. Details are not described herein in this embodiment.

[0221] Figure 12 It is a schematic structural diagram of an electronic device provided in an embodiment of this application. As Figure 12 shown, the communication device may include: at least one processor 1201 and a memory 1202.

[0222] The memory 1202 is used to store programs. Specifically, the program may include program code, and the program code includes computer operation instructions.

[0223] The memory 1202 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0224] The processor 1201 is used to execute the computer execution instructions stored in the memory 1202 to implement the actions in the foregoing method embodiments. Among them, the processor 1201 may be a central processing unit (CPU), or a specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0225] Optionally, the electronic device may further include a communication interface 1203 for communicating with external devices. In a specific implementation, if the communication interface 1203, the memory 1202, and the processor 1201 are independently implemented, the communication interface 1203, the memory 1202, and the processor 1201 may be connected to each other through a bus and complete communication with each other.

[0226] Optionally, in a specific implementation, if the communication interface 1203, the memory 1202, and the processor 1201 are integrated on a chip, the communication interface 1203, the memory 1202, and the processor 1201 may complete communication through an internal interface.

[0227] The present application also provides a computer-readable storage medium, which may include: various media capable of storing program codes such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs. Specifically, program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the actions of the above method embodiments.

[0228] The present application also provides a computer program product, which includes execution instructions stored in a readable storage medium. At least one processor of the electronic device can read the execution instructions from the readable storage medium, and the execution of the execution instructions by at least one processor causes the electronic device to implement the actions of the above method embodiments.

[0229] The embodiment of the present application also provides a lifting device, including a lifting device, a load acquisition device, or an electronic device. The lifting device includes: a motor 1, a hoisting component 2, and a lifting platform 3 connected to the hoisting component; the motor 1 is used to drive the hoisting component 2 to drive the lifting platform 3 to move.

[0230] Finally, it should be noted that: those skilled in the art will easily think of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention, which follow the general principles of the present invention and include common general knowledge or conventional technical means in the technical field not disclosed in the present invention. It is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A method for obtaining the load of a lifting device, characterized in that, include: Obtaining the output torque value of the motor in the lifting device and the radius of the hoisting component; wherein the motor is used to drive the hoisting component to drive the lifting platform in the lifting device to move; Obtaining the load of the lifting platform according to the output torque value of the motor and the radius of the hoisting component; The load of the lifting platform is calibrated according to the calibration coefficient to obtain a calibration load; the calibration coefficient is obtained based on a theoretical output torque value of the motor under a preset load and an actual output torque value obtained by measurement.

2. The method according to claim 1, wherein The step of obtaining the load of the lifting platform according to the output torque value of the motor and the radius of the hoisting component specifically includes: Obtaining a load torque value of the motor according to a difference between an output torque value of the motor and a basic torque value; wherein the basic torque value is determined based on an actual output torque value of the motor measured under no-load conditions; The load of the lifting platform is calculated by dividing the load torque value of the motor by the product of the radius of the hoisting component and the gravitational acceleration.

3. The method according to claim 2, wherein The method further comprises: When the actual operating load is no-load, the lifting platform is controlled to rise until it reaches a uniform speed running state, and the actual output torque value of the motor is measured to obtain the basic torque value.

4. The method according to claim 3, characterized in that, The method further comprises: Perform a calibration process to obtain the calibration coefficient; the calibration process includes: Calculating a theoretical output torque value of the motor based on a preset load; When the actual operating load is the preset load, the lifting platform is controlled to rise until it reaches a state of uniform speed operation, and the actual output torque value of the motor is measured; The calibration coefficient is obtained based on the theoretical output torque value and the actual output torque value of the motor under a preset load.

5. The method according to claim 4, wherein The step of obtaining the calibration coefficient based on the theoretical output torque value and the actual output torque value of the motor under the preset load specifically includes: Calculating the difference between the actual output torque value of the motor and the basic torque value to obtain a preset load torque value; The calibration coefficient is obtained according to the ratio of the preset load torque value to the theoretical output torque value.

6. The method according to claim 5, wherein The method further comprises: Executing the calibration process multiple times to obtain the calibration coefficient under each calibration process; The calibration coefficient is obtained by averaging the calibration coefficients under each calibration process.

7. The method according to claim 5, wherein The step of calibrating the load of the lifting platform according to the calibration coefficient to obtain the calibration load specifically includes: The calibration load is calculated by dividing the load of the lifting platform by the calibration coefficient.

8. The method according to any one of claims 1 to 7, characterized in that The method further comprises: If the calibrated load of the lifting platform exceeds the set protection threshold, overload protection is executed. And, if the calibrated load of the lifting platform returns to a safe range, the overload protection is released.

9. A load acquisition device for a lifting device, characterized in that The device comprises: An acquisition module, used to acquire the output torque value of the motor in the lifting device and the radius of the hoisting component; wherein the motor is used to drive the hoisting component to drive the lifting platform in the lifting device to move; A processing module, used for obtaining the load of the lifting platform according to the output torque value of the motor and the radius of the hoisting component; A calibration module, configured to calibrate the load of the lifting platform according to a calibration coefficient to obtain a calibrated load; the calibration coefficient is obtained based on the theoretical output torque value of the motor under a preset load and the actually measured output torque value.

10. A lifting device, characterized in that, It includes a lifting device and the load acquisition device as described in claim 9; The lifting device includes: a motor, a hoisting component, and a lifting platform connected to the hoisting component; the motor is used to drive the hoisting component to drive the lifting platform to move.

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