Position obtaining method and device of lifting mechanism, monitoring method and device and storage medium

Abstract

The invention discloses a position obtaining method and device of a lifting mechanism, a monitoring method and device and a storage medium, and belongs to the technical field of coal sampling and processing. The method for obtaining the position of the lifting mechanism comprises the step of obtaining the position of the lifting mechanism relative to a reference according to the rotating speed and operation time of a motor. In addition, the invention further provides a method for changing the running speed of the lifting mechanism, and the method comprises the step that when the lifting mechanism enters a speed reduction area, the speed of the lifting mechanism is reduced in advance through the frequency converter. In addition, the invention further provides a method for monitoring the position of the lifting mechanism, and the method comprises the steps that when the target sensor senses the lifting mechanism, the position, obtained through calculation of the sensing position, of the lifting mechanism is compared with the position parameter set value of the sensing position. According to the method for obtaining the position of the lifting mechanism, the distance measuring hardware cost does not need to be increased, and the position of the lifting mechanism relative to the reference can be obtained only according to the rotating speed and the operation time of the motor through the method for obtaining the position of the lifting mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining and processing, and in particular to a position acquisition method, a monitoring method, a device and a storage medium for a lifting mechanism. Background Art

[0002] Currently, in the coal mining and processing industry, the control of the lifting and transport mechanism of coal sample barrels equipped with frequency converters is mainly based on switch-type sensors. For example, when the lifting mechanism is moving upward at high speed, when the deceleration position sensing switch is detected, the lifting mechanism will reduce its speed. When the target position sensing switch is detected, the lifting mechanism is considered to have reached the target position and stops. When the upper limit position sensing switch is detected, the lifting mechanism is considered to have reached the upper limit position and is prohibited from continuing to move upward. However, there are the following disadvantages:

[0003] 1. It is impossible to monitor the process position of the lifting mechanism in real time. When the lifting mechanism stops at a non-sensing switch position midway, the current position cannot be known. As a result, the lifting mechanism can only run at a low speed to find the next switch position to ensure the docking accuracy of the lifting mechanism and other platforms, resulting in low transportation efficiency.

[0004] 2. When the position sensing switch fails, the system cannot be notified, resulting in failure to decelerate or stop normally, and the stability of docking accuracy and the safety of the equipment cannot be ensured.

[0005] 3. Since lifting is a vertical movement plus high-precision positioning, there is an external mechanical brake mechanism, and the frequency conversion deceleration time is often set very short. Its speed level depends on the number of deceleration sensors, and the speed level is also limited. The sudden switch from high speed to low speed can easily cause the sample barrel to shake or even tip over, and the stability is poor. Summary of the Invention

[0006] The purpose of the present invention is to overcome the above technical deficiencies and provide a method for obtaining the position of a lifting mechanism, a monitoring method, a device and a storage medium to solve the technical problem of how to obtain the position of the lifting mechanism in real time in the prior art.

[0007] In order to achieve the above technical objectives, the technical solution of the present invention provides a method for obtaining the position of a lifting mechanism, comprising:

[0008] The position of the lifting mechanism relative to the reference is obtained based on the motor speed and running time; the calculation formula is as follows:

[0009]

[0010] V: rated lifting speed of the lifting mechanism at power frequency, in m / s;

[0011] N1: inverter speed feedback, unit (r / min);

[0012] N: rated speed of the motor;

[0013] X1: The reference offset of the initial position distance;

[0014] Y: The current position of the lifting mechanism from the reference;

[0015] T1: cumulative time of lifting mechanism rising;

[0016] T2: Cumulative time of the lifting mechanism descending.

[0017] In any embodiment, the reference is a lower limit.

[0018] In addition, the present invention also proposes a method for changing the operating speed of a lifting mechanism, including: obtaining the position of the elevator by the above-mentioned lifting mechanism position acquisition method, and when the lifting mechanism enters the deceleration zone, slowing down the lifting mechanism in advance through the frequency converter, and the lifting mechanism approaches the target position at the lowest or lower operating speed.

[0019] In any embodiment, the deceleration zone is a multi-stage deceleration zone, and the lifting mechanism is decelerated in advance by a frequency converter, so that the lifting mechanism eventually approaches the target position at the lowest operating speed.

[0020] In addition, the present invention also provides a device for changing the operating speed of a lifting mechanism, comprising:

[0021] A position acquisition unit, used to acquire the position of the lifting mechanism;

[0022] The deceleration unit is used to reduce the speed of the lifting mechanism in multiple stages in advance through the frequency converter when the lifting mechanism enters the multi-stage deceleration zone, so that the lifting mechanism approaches the target position at the lowest operating speed.

[0023] In addition, the present invention also proposes a method for monitoring the position of a lifting mechanism, including: obtaining the position of the elevator according to the above-mentioned lifting mechanism position acquisition method, when the target sensor senses the lifting mechanism, comparing the position of the lifting mechanism obtained by calculating the sensing bit and the position parameter setting value of the sensing bit, if the difference between the two is within the set threshold range, the lifting mechanism stops normally; if the difference between the two is outside the set threshold range, the mechanism stops.

[0024] In any embodiment, when the lifting mechanism returns to the initial position, the position of the lifting mechanism obtained by calculating the sensing position is compared with the position parameter setting value of the sensing position. If the difference between the two is within the set threshold range, the position of the lifting mechanism is corrected to eliminate the accumulated error of the lifting mechanism position, otherwise the machine is shut down.

[0025] In addition, the present invention also provides a device for monitoring the position of a lifting mechanism, comprising:

[0026] A position acquisition unit, used to acquire the position of the lifting mechanism;

[0027] The first comparison unit is used to compare the position of the lifting mechanism obtained by the sensing bit calculation and the position parameter setting value of the sensing bit when the target sensor senses the lifting mechanism. If the difference between the two is within the set threshold range, the lifting mechanism will stop normally; if the difference between the two is outside the set threshold range, the lifting mechanism will stop.

[0028] In any embodiment, it also includes a second comparison unit, which is used to compare the position of the lifting mechanism obtained by the sensing position and the position parameter setting value of the sensing position when the lifting mechanism returns to the initial position (the initial position is the initial position). If the difference between the two is within the set threshold range, the obtained position of the lifting mechanism is corrected to eliminate the accumulated error of the lifting mechanism position, otherwise the machine will be shut down.

[0029] In addition, the present invention also proposes a storage medium on which a computer program is stored. When the program is executed by a processor, the program implements the steps of the above-mentioned method for obtaining the position of the lifting mechanism, or the above-mentioned method for changing the operating speed of the lifting mechanism, or the above-mentioned method for monitoring the position of the lifting mechanism.

[0030] Compared with the prior art, the beneficial effects of the present invention include: no need to increase the cost of ranging hardware, and through the method for obtaining the position of the lifting mechanism proposed by the present invention, the position of the lifting mechanism relative to the reference can be obtained based on the motor speed and running time. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the lifting device of Example 1 of the present invention.

[0032] Figure 2 3 is a schematic diagram of the principle of a method for obtaining the position of a lifting mechanism of a lifting device according to embodiment 1 of the present invention.

[0033] Figure 3 It is a schematic diagram of the principle of a method for changing the operating speed of the lifting mechanism of the lifting device in embodiment 1 of the present invention.

[0034] Explanation of the accompanying symbols: 1. Upper limit sensing switch; 2. Upper docking position sensing switch; 3. Middle docking position sensing switch; 4. Lower docking position sensing switch; 5. Lower limit sensing switch; 6. Control box; 7. Lifting mechanism; 8. Variable frequency lifting motor; 9. Pulley; 10. Guide rail; 11. Chain; 12. Gear; A. Lower limit reference; B. Initial position of the lifting mechanism; C. Position of the lifting mechanism. DETAILED DESCRIPTION

[0035] The "ranges" disclosed herein are defined in terms of lower and upper limits, where a given range is defined by selecting a lower limit and an upper limit, and the selected lower and upper limits define the boundaries of the particular range. Ranges defined in this manner can be inclusive or exclusive of the end values ​​and can be combined arbitrarily, i.e., any lower limit can be combined with any upper limit to form a range. For example, if ranges of 60 to 120 and 80 to 110 are listed for a particular parameter, it is understood that ranges of 60 to 110 and 80 to 120 are also contemplated. Furthermore, if minimum range values ​​of 1 and 2 are listed, and if maximum range values ​​of 3, 4, and 5 are listed, the following ranges are all contemplated: 1 to 3, 1 to 4, 1 to 5, 2 to 3, 2 to 4, and 2 to 5. In this application, unless otherwise indicated, the numerical range "a to b" is a shorthand representation of any combination of real numbers between a and b, where a and b are both real numbers. For example, a numerical range of "0-5" indicates that all real numbers between "0-5" are listed herein, and "0-5" is simply an abbreviation for these numerical combinations. Furthermore, when a parameter is expressed as an integer ≥ 2, this is equivalent to disclosing that the parameter is, for example, an integer of 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, etc.

[0036] Unless otherwise specified, the terms "include" and "comprising" used in this application may be open-ended or closed-ended. For example, "include" and "comprising" may mean that other components not listed may also be included or that only the listed components are included.

[0037] Unless otherwise specified, the term "or" is used in this application to be inclusive. For example, the phrase "A or B" means "A, B, or both A and B." More specifically, the condition "A or B" is satisfied if any of the following conditions are met: A is true (or exists) and B is false (or does not exist); A is false (or does not exist) and B is true (or exists); or both A and B are true (or exist).

[0038] This specific embodiment provides a method for obtaining the position of a lifting mechanism, including:

[0039] The position of the lifting mechanism relative to the reference is obtained based on the motor speed and running time; the calculation formula is as follows:

[0040]

[0041] V: rated lifting speed of the lifting mechanism at power frequency, in m / s;

[0042] N1: inverter speed feedback, unit (r / min);

[0043] N: rated speed of the motor;

[0044] X1: The reference offset of the initial position distance;

[0045] Y: The current position of the lifting mechanism from the reference;

[0046] T1: cumulative time of lifting mechanism rising;

[0047] T2: Cumulative time of the lifting mechanism descending.

[0048] In some embodiments, the reference is a lower limit.

[0049] This specific embodiment also proposes a method for changing the operating speed of a lifting mechanism, including: obtaining the position of the elevator according to the above-mentioned method for obtaining the position of the lifting mechanism, and when the lifting mechanism enters a multi-stage deceleration zone, performing multi-stage deceleration on the lifting mechanism in advance through a frequency converter, and the lifting mechanism approaches the target position at the lowest or lower operating speed.

[0050] In some embodiments, the deceleration zone is a multi-stage deceleration zone, and the lifting mechanism is decelerated in advance by a frequency converter, so that the lifting mechanism eventually approaches the target position at the lowest operating speed.

[0051] This specific embodiment also proposes a device for changing the operating speed of the lifting mechanism, comprising:

[0052] A position acquisition unit, used to acquire the position of the lifting mechanism;

[0053] The deceleration unit is used to reduce the speed of the lifting mechanism in multiple stages in advance through the frequency converter when the lifting mechanism enters the multi-stage deceleration zone, so that the lifting mechanism approaches the target position at the lowest operating speed.

[0054] This specific embodiment also proposes a method for monitoring the position of a lifting mechanism, including: obtaining the position of the elevator according to the above-mentioned method for obtaining the position of the lifting mechanism, when the target sensor senses the lifting mechanism, comparing the position of the lifting mechanism obtained by calculating the sensing bit and the position parameter setting value of the sensing bit, if the difference between the two is within the set threshold range, the lifting mechanism stops normally; if the difference between the two is outside the set threshold range, the lifting mechanism stops.

[0055] In some embodiments, when the lifting mechanism returns to its initial position, the position of the lifting mechanism obtained by calculating the sensing position is compared with the position parameter setting value of the sensing position. If the difference between the two is within the set threshold range, the obtained position of the lifting mechanism is corrected to eliminate the accumulated error of the lifting mechanism position, otherwise the machine will be shut down.

[0056] This specific embodiment also provides a device for monitoring the position of a lifting mechanism, comprising:

[0057] A position acquisition unit, used to acquire the position of the lifting mechanism;

[0058] The first comparison unit is used to compare the position of the lifting mechanism obtained by the sensing bit calculation and the position parameter setting value of the sensing bit when the target sensor senses the lifting mechanism. If the difference between the two is within the set threshold range, the lifting mechanism will stop normally; if the difference between the two is outside the set threshold range, the lifting mechanism will stop.

[0059] In some embodiments, a second comparison unit is also included, which is used to compare the position of the lifting mechanism obtained by the sensing position and the position parameter setting value of the sensing position when the lifting mechanism returns to the initial position. If the difference between the two is within the set threshold range, the obtained position of the lifting mechanism is corrected to eliminate the accumulated error of the lifting mechanism position, otherwise the machine will be shut down.

[0060] In addition, this specific embodiment also proposes a storage medium on which a computer program is stored. When the program is executed by a processor, it implements the steps of the above-mentioned method for obtaining the position of the lifting mechanism, or the above-mentioned method for changing the operating speed of the lifting mechanism, or the above-mentioned method for monitoring the position of the lifting mechanism.

[0061] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0062] In the present invention, references to “some embodiments”, “this embodiment”, examples, etc. describe a subset of all possible embodiments, but it can be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.

[0063] If similar descriptions of "first / second" appear in the application documents, the following explanation is added. In the following description, the terms "first\second\third" are merely used to distinguish similar objects and do not represent a specific order of the objects. It can be understood that "first\second\third" can be interchanged with the specific order or sequence where permitted, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein.

[0064] In this embodiment, the term "and / or" is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, object A and / or object B may represent three situations: object A exists alone, object A and object B exist at the same time, and object B exists alone.

[0065] Below, the embodiment of the present application is described. The embodiment described below is exemplary and is only used to explain the present application, and is not to be construed as limiting the present application. Where specific techniques or conditions are not specified in the embodiments, the techniques or conditions described in the literature in this area or the product specifications are used. Reagents or instruments used that do not specify the manufacturer are conventional products that can be obtained commercially.

[0066] The present invention mainly focuses on the lifting mechanism, and proposes a method for changing the speed of the lifting mechanism, and a method for monitoring or obtaining the position. The coal sample bucket lifting mechanism is mainly composed of an upper limit sensor, a lower limit sensor, an intermediate target position sensor, a lifting frequency conversion motor, a programmable controller, a frequency converter and other components. The specific lifting device involved is as follows Figure 1 As shown, it includes an upper limit position sensing switch 1, an upper docking position sensing switch 2, an intermediate docking position sensing switch 3, a lower docking position sensing switch 4, a lower limit position sensing switch 5, a control box 6, a lifting mechanism 7, a variable frequency lifting motor 8, a pulley 9, a guide rail 10, a chain 11 and a gear 12; the lifting mechanism 7 drives the gear 12 through the variable frequency motor 8 to drive the chain 11, which is guided by the pulley 9 and the guide rail 10 to achieve reciprocating motion of the lifting mechanism on the fixed track. The structure of the lifting device is based on the existing technology and will not be described in detail here. In addition, the upper limit position sensing switch 1, the upper docking position sensing switch 2, the intermediate docking position sensing switch 3, the lower docking position sensing switch 4, and the lower limit position sensing switch 5 are arranged in sequence from top to bottom on the outer wall of the guide rail 10 to sense the position of the lifting mechanism. The frequency converter of this embodiment provides a variable frequency power supply to the variable frequency lifting motor 8 to control the motor speed and torque. The frequency converter is based on the existing technology and will not be described in detail here.

[0067] Example 1

[0068] This embodiment provides a method for obtaining the position of a lifting mechanism, including:

[0069] The position of the lifting mechanism relative to the reference is obtained based on the motor speed and running time; the calculation formula is as follows:

[0070]

[0071] V: rated lifting speed of the lifting mechanism at power frequency, in m / s;

[0072] N1: inverter speed feedback, unit (r / min);

[0073] N: rated speed of the motor;

[0074] X1: The reference offset of the initial position distance;

[0075] Y: The current position of the lifting mechanism from the reference;

[0076] T1: cumulative time of lifting mechanism rising;

[0077] T2: Cumulative time of the lifting mechanism descending.

[0078] Combine Figure 2 , A is the lower limit reference, B is the initial position of the lifting structure, C is the specific position of the lifting mechanism, the distance between the position C of the lifting mechanism 7 and the lower limit reference A is Y, and the distance between the starting position of the lifting mechanism 7 and the lower limit reference A is X1.

[0079] After calculating the theoretical position of the lifting mechanism, theoretical position parameters can be set for multiple target positions, including multiple deceleration intervals, theoretical positioning errors (i.e. thresholds or reasonable ranges), upper limit values, and lower limit values. The upper limit value is the distance between the upper limit and the starting position, and the lower limit value is the distance between the lower limit and the starting position, etc. Figure 3 shown.

[0080] Combine Figure 3 This embodiment also proposes a method for changing the operating speed of a lifting mechanism, comprising: according to the position of the lifting mechanism obtained by the above-mentioned method for obtaining the position of the lifting mechanism, when the lifting mechanism enters the multi-stage deceleration zone after entering the high-speed zone from the starting position and is close to the target position, the lifting mechanism is pre-decelerated by the frequency converter in multiple stages, and the lifting mechanism approaches the target position at the lowest operating speed to ensure the smoothness of the deceleration and the accuracy of the docking. Multi-stage deceleration means that the lifting mechanism gradually decelerates to the lowest operating speed. It is easy to understand that the deceleration zone can be set according to the calculated position of the lifting mechanism and the distance between the lifting structure and the target position, and then deceleration can be performed.

[0081] During a mission, the position of the lifting mechanism is monitored in real time. This embodiment also provides a method for monitoring the position of the lifting mechanism, comprising: obtaining the position of the lifting mechanism according to the aforementioned lifting mechanism position acquisition method; when a target sensor senses the lifting mechanism, comparing the position of the lifting mechanism calculated by the sensing bit with the position parameter setting of the sensing bit; if the difference between the two is within the set threshold range, the lifting mechanism stops normally; if the difference between the two is outside the set threshold range, the lifting mechanism stops normally. When the target position sensor signal is detected, the controller automatically determines whether it exceeds the reasonable range of the parameter setting (i.e., the threshold). If the theoretical position is within the reasonable range when the target sensor senses it, the lifting mechanism stops normally; if it is not within the reasonable range when the target sensor senses it, a shutdown alarm is issued, thereby improving equipment safety. The following situations may cause the target sensor to sense outside the threshold range: 1. When the position sensor itself fails or is interfered with by other foreign objects, causing false sensing; 2. When the transmission part of the lifting mechanism is abnormal, causing operation to freeze. It should be noted that the control box 6 in this embodiment includes a controller. The controller receives the signal from the sensor switch and controls the lifting speed, start or stop of the lifting mechanism through the frequency converter. The implementation method is based on the existing technology. The technical means for setting the position parameter setting value of the sensing position comes from the existing technology. The position of the lifting mechanism obtained by calculating the sensing position corresponds to the position calculated by the method for obtaining the position of the lifting mechanism proposed in this embodiment.

[0082] This embodiment further provides a device for changing the operating speed of a lifting mechanism, comprising:

[0083] A position acquisition unit, used to acquire the position of the lifting mechanism;

[0084] The deceleration unit is used to reduce the speed of the lifting mechanism in multiple stages in advance through the frequency converter when the lifting mechanism enters the multi-stage deceleration zone, so that the lifting mechanism approaches the target position at the lowest operating speed.

[0085] This embodiment also proposes a method for monitoring the position of the lifting mechanism. When the lifting mechanism returns to the initial position, the position of the lifting mechanism obtained by the sensing position is compared with the position parameter setting value of the sensing position. If the difference between the two is within the set threshold range, the position of the lifting mechanism obtained is automatically corrected to eliminate the cumulative error of the position of the lifting mechanism. Otherwise, the machine will stop. When the conveying mechanism returns to the initial position, the controller automatically calculates whether the theoretical position and the actual position are within the set threshold range in combination with the above-mentioned method for obtaining the position of the lifting mechanism. If they are within the set threshold range, the position of the lifting mechanism obtained by the method of obtaining the present embodiment is automatically corrected to eliminate the cumulative error of the position of the lifting mechanism. Otherwise, the machine will stop and alarm. It should be noted that this embodiment is provided with an alarm, which is connected to the controller, and the controller controls the alarm to realize the alarm.

[0086] This embodiment further provides a device for monitoring the position of a lifting mechanism, comprising:

[0087] A position acquisition unit, used to acquire the position of the lifting mechanism;

[0088] The first comparison unit is used to compare the position of the lifting mechanism obtained by the sensing bit and the position parameter setting value of the sensing bit when the target sensor senses the lifting mechanism. If the difference between the two is within the set threshold range, the lifting mechanism will stop normally; if the difference between the two is outside the set threshold range, the lifting mechanism will stop;

[0089] The second comparison unit is used to compare the position of the lifting mechanism obtained by calculating the sensing position and the position parameter setting value of the sensing position when the lifting mechanism returns to the initial position. If the difference between the two is within the set threshold range, the obtained position of the lifting mechanism is automatically corrected to eliminate the accumulated error of the lifting mechanism position, otherwise the machine will stop.

[0090] In addition, this embodiment also proposes a storage medium on which a computer program is stored. When the program is executed by a processor, it implements the steps of the above-mentioned method for obtaining the position of the lifting mechanism, or the above-mentioned method for changing the operating speed of the lifting mechanism, or the above-mentioned method for monitoring the position of the lifting mechanism.

[0091] Other beneficial effects of the present invention:

[0092] 1. Use the frequency converter to perform multi-stage speed change according to the position of the lifting mechanism. Run at high speed in the middle to save transportation time. Perform multi-stage speed change when entering the deceleration zone of the target point to ensure smooth transportation while ensuring high-precision docking with other platforms.

[0093] 2. If the lifting mechanism exceeds the target theoretical position by a certain threshold and the sensor is still not lit, the system can issue a shutdown warning, indirectly monitoring whether the sensor is normal and ensuring equipment safety.

[0094] 3. Optimized the efficiency of lifting and conveying, improved the stability of lifting and conveying, and improved the safety of lifting and conveying.

[0095] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A method for obtaining the position of a lifting mechanism, characterized in that: include: The position of the lifting mechanism relative to the reference is obtained based on the motor speed and running time; the calculation formula is as follows: V: rated lifting speed of the lifting mechanism at power frequency, in m / s; N1: inverter speed feedback, unit: r / min; N: rated speed of the motor; X1: The reference offset of the initial position distance; Y: The current position of the lifting mechanism from the reference; T1: cumulative time of lifting mechanism rising; T2: Cumulative time of the lifting mechanism descending.

2. The method for obtaining the position of a lifting mechanism according to claim 1, characterized in that: The reference is the lower limit.

3. A method for changing the operating speed of a lifting mechanism, characterized in that: include: According to the position of the elevator obtained by the method for obtaining the position of the lifting mechanism according to any one of claims 1-2, when the lifting mechanism enters the deceleration zone, the lifting mechanism is decelerated in advance by the frequency converter, and the lifting mechanism approaches the target position at the lowest or lower operating speed.

4. The method for changing the operating speed of a lifting mechanism according to claim 3, characterized in that: The deceleration zone is a multi-stage deceleration zone, and the lifting mechanism is decelerated in advance by the frequency converter, so that the lifting mechanism eventually approaches the target position at the lowest operating speed.

5. A device for changing the operating speed of a lifting mechanism, characterized in that: include: A position acquisition unit, used to acquire the position of the lifting mechanism; The deceleration unit is used to reduce the speed of the lifting mechanism in multiple stages in advance through the frequency converter when the lifting mechanism enters the multi-stage deceleration zone, so that the lifting mechanism approaches the target position at the lowest operating speed.

6. A method for monitoring the position of a lifting mechanism, characterized in that: include: According to the position of the elevator obtained by the position acquisition method of the lifting mechanism according to any one of claims 1-2, when the target sensor senses the lifting mechanism, the position of the lifting mechanism obtained by calculating the sensing bit is compared with the position parameter setting value of the sensing bit; if the difference between the two is within the set threshold range, the lifting mechanism stops normally; if the difference between the two is outside the set threshold range, the lifting mechanism stops.

7. The method for monitoring the position of a lifting mechanism according to claim 6, characterized in that: When the lifting mechanism returns to its initial position, the position of the lifting mechanism obtained by calculating the sensing position is compared with the position parameter setting value of the sensing position. If the difference between the two is within the set threshold range, the position of the lifting mechanism is corrected to eliminate the accumulated error of the lifting mechanism position. Otherwise, the machine will stop.

8. A device for monitoring the position of a lifting mechanism, characterized in that: include: A position acquisition unit, used to acquire the position of the lifting mechanism; The first comparison unit is used to compare the position of the lifting mechanism obtained by the sensing bit calculation and the position parameter setting value of the sensing bit when the target sensor senses the lifting mechanism. If the difference between the two is within the set threshold range, the lifting mechanism will stop normally; if the difference between the two is outside the set threshold range, the lifting mechanism will stop.

9. The device for monitoring the position of a lifting mechanism according to claim 8, characterized in that: It also includes a second comparison unit, which is used to compare the position of the lifting mechanism obtained by calculating the sensing position and the position parameter setting value of the sensing position when the lifting mechanism returns to the initial position. If the difference between the two is within the set threshold range, the obtained position of the lifting mechanism is corrected to eliminate the accumulated error of the lifting mechanism position, otherwise the machine will be shut down.

10. A storage medium, characterized in that: A computer program is stored thereon, which, when executed by a processor, implements the steps of the method for obtaining the position of a lifting mechanism as described in claim 1, or the method for changing the operating speed of a lifting mechanism as described in claim 3, or the method for monitoring the position of a lifting mechanism as described in any one of claims 5 to 6.

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