Lifting device based on intelligent sensing feedback control

Abstract

The invention relates to the technical field of lifting devices, in particular to a lifting device based on intelligent sensing feedback control, which comprises a lifting platform, a winch, a lifting frame, a lap joint platform, a sensing unit and a regulation and control unit, and is characterized in that the sensing unit can determine the weight grade of goods and correspondingly control the actual lifting load or send out an overload early warning signal; determining the deviation grade of the gravity center of the cargo, judging whether the amplitude of the lifting platform meets the safety standard or not according to the weight grade, sending a signal to a regulation and control unit, or adding a test stage, or sending out unbalance early warning information; judging whether the height difference value of the lifting platform is in a normal range or has height deviation, and judging the reason for the existence of the height deviation according to the recorded height difference values; the regulation and control unit determines operation parameters of the winch according to signals of the sensing unit and controls lifting parameters of the lifting platform. Through intelligent sensing feedback control, the automation degree of overload unbalance and lifting height control of the lifting device is enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lifting devices, in particular to a lifting device based on intelligent sensing feedback control. BACKGROUND

[0002] The lifting frame is also called climbing frame. According to its power source, it can be divided into hydraulic type, electric type and manual hand-pulling type. It is a new type of scaffold system developed in recent years, mainly applied to high-rise shear wall type buildings. It can climb up or down along the building. This system completely changes the scaffold technology: first, it does not need to be flipped; second, it eliminates the disassembly and assembly process (once assembled, it is used until the construction is completed), and is not limited by the height of the building, greatly saving manpower and materials, and greatly improving the safety of the traditional scaffold. It has great development advantages in high-rise buildings.

[0003] Chinese patent publication No. CN112127616A discloses a lifting climbing frame, which comprises a frame body system, an attachment guide system, a power system and a construction protection system. The power system comprises a lifting hanging seat arranged on the wall and detachably connected with the wall, an electric hoist arranged in the frame body system and a controller for controlling the electric hoist. The electric hoist is provided with a lifting rope, one end of the lifting rope away from the electric hoist is connected with the lifting hanging seat through the frame body. The lifting hanging seat is fixed with the wall through a second wall penetrating bolt. A clamping assembly is arranged on the lifting hanging seat. The clamping assembly comprises a first clamping plate arranged on the lifting hanging seat and abutting with the bottom surface of the wall, and a second clamping plate arranged on the lifting hanging seat and abutting with the upper surface of the wall. A fixing bolt is arranged between the first clamping plate and the wall and between the second clamping plate and the wall for fixing the first clamping plate, the second clamping plate and the wall. It can be seen that the lifting climbing frame has the following problems:

[0004] For different weights of goods, the equipment has the risk of overload and imbalance during lifting, and the lifting height of the goods is easy to have height deviation from the floor height, which affects the loading and unloading of the goods. SUMMARY

[0005] Therefore, the present application provides a lifting device based on intelligent sensing feedback control to overcome the problem that the equipment has the risk of overload and imbalance during lifting in the prior art, and the lifting height of the goods is easy to have height deviation from the floor height, which affects the loading and unloading of the goods.

[0006] To achieve the above purpose, the present application provides a lifting device based on intelligent sensing feedback control, which comprises:

[0007] A lifting platform, which is a carrying platform for goods and personnel, is arranged in the frame body of the lifting frame and is in sliding connection with the lifting frame.

[0008] A winch is connected with the lifting frame and welded on the outside of the frame body of the lifting frame, and vertically lifts and lowers the lifting platform according to a determined working mode.

[0009] A lifting frame is a framework structure of the lifting device, and is used to bear and support the weight of the entire lifting device.

[0010] A lap joint platform is arranged on the outlet side of the lifting platform and welded on the outside of the frame body of the lifting frame.

[0011] A sensing unit includes intelligent sensors, pressure sensors and height sensors, and can calculate a load proportion according to the weight of the goods, determine the weight grade of the goods, control the actual lifting load accordingly, or send an overload warning signal; determine the deviation grade of the center of gravity of the goods, judge whether the amplitude of the lifting platform meets the safety standard in combination with the weight grade, send a control signal to the control unit, or add a test stage, or send an imbalance warning message; determine whether the height difference of the lifting platform is in a normal range or has a height deviation, and determine the cause of the height deviation according to a plurality of recorded height differences;

[0012] A control unit is connected with the sensing unit and the winch, and can determine the motor operating power of the winch according to the control signal of the sensing unit, control the initial acceleration, lifting speed and deceleration time node of the lifting platform.

[0013] Further, the working mode of the lifting device includes an upward mode and a downward mode, the upward mode includes a pre-lifting stage, an acceleration stage, a constant speed stage and a slow speed stage, and the downward mode includes a pre-lowering stage, an acceleration stage, a constant speed stage and a slow speed stage.

[0014] The sensing unit calculates the load proportion of the goods to the lifting device according to the ratio of the weight of the goods to the rated lifting load, compares the load proportion with a critical proportion, and judges whether the weight grade of the goods is in a first weight grade, a second weight grade or a third weight grade.

[0015] The critical proportion includes a first critical proportion and a second critical proportion.

[0016] Further, the sensing unit sets a first weight corresponding to the first weight grade of the goods, sets a second weight corresponding to the second weight grade of the goods, and sends an overload warning signal according to the third weight grade of the goods.

[0017] The second weight is less than the first weight.

[0018] Further, the sensing unit determines that the weight level is in the second weight level, and transmits a signal to the control unit to control the motor of the hoist to reduce the initial acceleration of the hoist;

[0019] The sensing unit is used to control the control unit to reduce the initial acceleration of the acceleration stage in the lifting mode.

[0020] The sensing unit is used to control the control unit to reduce the initial acceleration of the acceleration stage in the lifting mode.

[0021] Further, the sensing unit is used to calculate the maximum pressure difference value between the pressure values borne by the four corners of the lifting platform, and determine whether the center of gravity of the goods on the lifting platform is in the first deviation level or the second deviation level according to the comparison result of the maximum pressure difference value and the pressure difference evaluation value.

[0022] Further, the sensing unit determines that the center of gravity of the goods is in the second deviation level, and calculates the vertical deviation of the lifting platform in the pre-withdrawal stage.

[0023] The sensing unit determines that the weight level of the goods is in the first weight level or the second weight level, and according to the comparison result of the vertical deviation and the first safety range or the second safety range,

[0024] determines whether the amplitude of the lifting platform meets the safety standard, sends a signal to the control unit to reduce the lifting speed of the uniform speed stage, or adds a test stage, or issues an imbalance warning message;

[0025] The first safety range is the product of the reference range and the first weight, and the second safety range is the product of the reference range and the second weight.

[0026] Further, the control unit controls the lifting platform to move at the reduced lifting speed of the uniform speed stage in the test stage, and the sensing unit tests the actual height of the lifting platform according to the initial detection period in the test stage.

[0027] The sensing unit compares the difference between the current actual height corresponding to the current initial detection period and the historical actual height corresponding to the last initial detection period with the product of the lifting speed and the initial detection period, and determines whether the vertical deviation of the lifting platform increases during the movement.

[0028] Further, the sensing unit calculates a height difference value according to the actual height of the lifting platform and the input preset height, compares the height difference value with the difference evaluation value, and determines whether the height difference value of the lifting platform exceeds the normal range.

[0029] The sensing unit judges whether the lifting platform has a height deviation, sets a height compensation parameter according to a height difference value, and controls the regulating unit to adjust the lifting height of the lifting platform.

[0030] Further, the sensing unit judges that there is a height deviation, analyzes a plurality of recorded height difference values, calculates a variance value of the plurality of height difference values, compares the variance value with a preset variance, and judges whether the volatility of the height difference value is within a normal range.

[0031] Further, the sensing unit judges that the volatility of the height difference value is within the normal range, and the reason for the height deviation is that the sensor has output drift, and the calibration period is reduced.

[0032] The sensing unit judges that the volatility of the height difference value exceeds the normal range, and the reason for the height deviation is that the winch is unstable, and the maintenance period is reduced.

[0033] Compared with the prior art, the device needs to lift goods of different weights, and there is a risk of overload when the lifting load of the lifting device approaches the rated value. The pressure borne by the lifting platform is equal to the product of the weight of the goods plus the mass and acceleration of the goods. The weight level determines how much load the winch bears at the end of the platform landing and the beginning of the lifting, and whether it will be overloaded. The device calculates the load ratio according to the weight of the goods, compares the load ratio with the critical ratio to judge the weight level of the goods, sets the weight accordingly, preliminarily evaluates the possibility of overload of the lifting device according to the weight level, further evaluates whether there is a possibility of overload within the set acceleration range at the second weight level, or directly judges that the device is overloaded at the third weight level. Compared with directly evaluating overload according to the acceleration range, the device improves the analysis response speed of the device for goods of different weights by dividing the weight level, and increases the adaptability of the device to goods.

[0034] Further, when the weight level of the goods is at the second weight level, the device further evaluates whether there is a possibility of overload of the lifting device within the set acceleration range through the sensing unit, and adjusts the initial acceleration to control the actual lifting load not to exceed the rated lifting load, thereby avoiding the situation that the lifting device is overloaded, which affects the service life of the device. At the same time, the lifting device needs to control the acceleration according to the height from the ground to make the lifting platform slowly fall on the bottom of the lifting frame at the deceleration stage in the descending mode. The speed of the lifting platform decreases for a longer period of time after the initial acceleration is reduced. The device advances the falling deceleration time node at the deceleration stage in the descending mode through the regulating unit, thereby avoiding the collision between the lifting platform and the bottom of the lifting frame, which causes damage to the lifting device and impact on personnel and goods, and improving the safety of the lifting device in lifting personnel and goods.

[0035] Further, due to the human factors in the loading link, the center of gravity of the goods on the lifting platform inevitably deviates, the device judges the deviation level of the center of gravity of the goods through the maximum pressure difference value of the four corners of the lifting platform, and distinguishes the center of gravity deviation within the normal range from the center of gravity deviation beyond the normal range, compared with directly adopting the adjustment scheme according to the center of gravity deviation, the adjustment workload is reduced, and the flexibility of the lifting device in lifting the goods of the personnel is increased.

[0036] Further, when the center of gravity of the goods deviates and the lifting platform deviates, the greater the weight level of the goods, the greater the risk of imbalance that may be caused, and the smaller the vertical deviation allowed by the lifting platform, the device adjusts the judgment standard of whether the amplitude of the lifting platform under different weight levels meets the safety standard by setting the weight corresponding to different weight levels, improves the accuracy and adaptability of the judgment standard; the device detects the vertical deviation of the lifting platform in the pre-extraction stage, adjusts the lifting speed in the uniform speed stage according to the relationship between the detected vertical deviation and the safety range, or adds a test stage, or directly issues an imbalance warning information, increases the stability of the goods on the lifting platform, avoids the imbalance of the goods or the sliding of the truck, and further improves the safety of the lifting device.

[0037] Further, the height difference of the lifting platform in the test stage is equal to the product of the moving speed and the moving time, the device judges whether the vertical deviation of the lifting platform in the motion process is reduced through the comparison relationship between the height difference and the theoretical value, whether the imbalance risk of the goods on the lifting platform after adjusting the moving speed is reduced, determines whether the adjustment is effective, or issues an imbalance warning information, reduces the difficulty of detecting the vertical deviation of the platform in the motion process, verifies the feasibility and adjustment effect of the adjustment scheme of the lifting device through the test stage, and determines whether the adjustment effect can cover the weight level of the goods and the deviation level of the center of gravity of the goods.

[0038] Further, in the construction process, the goods need to be lifted to different floor heights, the device has normal fluctuation of the height difference value in several running processes, but when there is a height deviation, it is judged that the height detected by the sensor in the running process has a problem, it is determined that the reason for the height deviation is that the sensor has output drift, or when the fluctuation of the height difference value exceeds the normal range, it is judged that the winch is unstable, it is determined that the reason for the height deviation is that the running state of the winch has a problem, and the calibration period of the sensor and the maintenance period of the winch are adjusted. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 It is a front view of the lifting device based on intelligent sensing feedback control in the embodiments of the application;

[0040] Figure 2It is a side view structure diagram of the closed side of the lifting device in the embodiment of the present application;

[0041] Figure 3 It is a side view structure diagram of the outlet side of the lifting device in the embodiment of the present application;

[0042] Figure 4 It is a logic judgment diagram for judging the weight grade of the goods in the embodiment of the present application.

[0043] In the figure: 1 - hoist, 2 - lifting platform, 3 - lifting frame, 4 - lap platform. DETAILED DESCRIPTION

[0044] In order to make the purpose and advantages of the present application more clear and obvious, the present application will be further described below in combination with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0045] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not used to limit the protection scope of the present application.

[0046] It should be noted that in the description of the present application, the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate the direction or positional relationship terms based on the direction or positional relationship shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0047] In addition, it should also be noted that in the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0048] Please refer to Figures 1-4 shown, Figure 1 It is a front view structure diagram of the lifting device based on intelligent sensing feedback control in the embodiment of the present application; Figure 2 It is a side view structure diagram of the closed side of the lifting device in the embodiment of the present application; Figure 3 It is a side view structure diagram of the outlet side of the lifting device in the embodiment of the present application; Figure 4 It is a logic judgment diagram for judging the weight grade of the goods in the embodiment of the present application.

[0049] The application provides a lifting device based on intelligent sensing feedback control, which comprises the following.

[0050] A lifting platform 2, which is a carrying platform for goods and personnel, is arranged in the inner part of the frame body of the lifting frame and is in sliding connection with the lifting frame.

[0051] A winch 1, which is a lifting mechanism of the lifting platform, is connected with the lifting frame and is welded on the outer side of the frame body of the lifting frame, and vertically lifts and lowers the lifting platform according to the working mode.

[0052] A lifting frame 3, which is the framework structure of the lifting device, is used for bearing and supporting the weight of the whole lifting device.

[0053] A lap joint platform 4 is arranged on the outlet side of the lifting platform and is welded on the outer side of the frame body of the lifting frame.

[0054] A sensing unit, which comprises an intelligent sensor, a pressure sensor and a height sensor, can calculate the load proportion according to the weight of goods, determine the weight grade of goods, control the actual lifting load or send an overload warning signal, determine the deviation grade of the gravity center of goods, judge whether the amplitude of the lifting platform meets the safety standard in combination with the weight grade, send a signal to a control unit, add a test stage or send an imbalance warning information, and judge the reason for the height deviation according to the recorded several height difference values.

[0055] A control unit, which is connected with the sensing unit and the winch, can determine the motor operating power of the winch according to the signal of the sensing unit, control the lifting speed of the lifting platform and the deceleration time node.

[0056] In the embodiment, the lifting device is used in the loading process, and the truck is driven by the driver to the upper side of the lifting platform or the goods are stacked on the upper side of the lifting platform by the implementer.

[0057] In the embodiment, the working mode of the lifting device comprises a lifting mode and a lowering mode, the lifting mode comprises a pre-lifting stage, an acceleration stage, a uniform speed stage and a slow speed stage, and the lowering mode comprises a pre-lowering stage, an acceleration stage, a uniform speed stage and a slow speed stage.

[0058] The sensing unit can determine the winding force of the winch according to the real-time detected weight of goods, the preset lifting speed, the required lifting time and the required lifting height, and correspondingly determine the motor operating power of the winch and the initial acceleration of the lifting platform.

[0059] The sensing unit detects the weight of goods by using the pressure sensor arranged at the bottom of the lifting platform, and calculates the load proportion of the goods to the lifting device according to the ratio of the weight of goods to the rated lifting load.

[0060] In this embodiment, the rated lifting load of the lifting device is 60t.

[0061] If the load ratio is less than or equal to the first critical ratio, the sensing unit determines that the weight level of the cargo is in the first weight level, and a first weight is set correspondingly;

[0062] If the load ratio is greater than the first critical ratio and less than the second critical ratio, the sensing unit determines that the weight level of the cargo is in the second weight level, and a second weight is set correspondingly;

[0063] If the load ratio is greater than the second critical ratio, the sensing unit determines that the weight level of the cargo is in the third weight level, and an overload warning signal is sent;

[0064] The first critical ratio and the second critical ratio are 0.67 and 0.9, the critical ratio can be adjusted according to the acceleration range of the lifting device, and the second weight is less than the first weight.

[0065] Specifically, the weight of the cargo that needs to be lifted by the device is different, and there is a risk of overload when the lifting load of the lifting device approaches the rated value. The pressure borne by the lifting platform is equal to the product of the weight of the cargo, the mass of the cargo and the acceleration. The weight level determines how much load the hoist will bear at the end of the platform landing and at the beginning of lifting, and whether it will be overloaded. The device calculates the load ratio according to the weight of the cargo, compares the load ratio with the critical ratio to determine the weight level of the cargo, sets the weight accordingly, and preliminarily evaluates the possibility of overload of the lifting device through the weight level. In the second weight level, further evaluate whether there is a possibility of overload within the set acceleration range, or directly determine that the device is overloaded in the third weight level. Compared with directly evaluating the overload according to the acceleration range, the weight level improves the analysis and response speed of the device for different weights of the cargo, and increases the adaptability of the device to the cargo.

[0066] When the weight level is in the second weight level, the intelligent sensor of the sensing unit calculates the actual lifting load according to the initial acceleration, the mass of the cargo and the weight of the lifting platform, and controls the actual lifting load not to exceed the rated lifting load;

[0067] Specifically, the sensing unit transmits a signal to the control unit to control the motor operating power of the hoist to reduce the initial acceleration according to the ratio of the actual lifting load to the rated lifting load;

[0068] When the lifting device is in the ascending mode, the sensing unit controls the control unit to reduce the initial acceleration in the acceleration stage of the ascending mode;

[0069] When the lifting device is in the descending mode, the sensing unit controls the regulating unit to reduce the initial acceleration in the acceleration stage in the descending mode, and correspondingly, according to the reduced initial acceleration, the sensing unit controls the regulating unit to advance the descending deceleration time node in the deceleration stage in the descending mode;

[0070] Specifically, when the weight level of the goods is in the second weight level, the sensing unit further assesses whether the lifting device has the possibility of overload in the set acceleration range, and correspondingly adjusts the initial acceleration to control the actual lifting load not to exceed the rated lifting load, thereby avoiding the situation that the overload of the lifting device affects the service life of the device. At the same time, in the deceleration stage in the descending mode, the lifting device needs to control the acceleration according to the height from the ground to make the lifting platform slowly fall on the bottom of the lifting frame. When the initial acceleration is reduced, the speed drop duration of the lifting platform increases. The sensing unit advances the descending deceleration time node in the deceleration stage in the descending mode through the regulating unit, thereby avoiding the collision between the lifting platform and the bottom of the lifting frame, preventing the damage of the lifting device and the impact on the personnel and goods, and improving the safety of the lifting device in lifting personnel and goods.

[0071] The sensing unit determines whether the center of gravity of the goods is deviated when the weight level of the goods is in the first weight level or the second weight level.

[0072] The sensing unit detects the pressure values borne by the lifting platform by using the pressure sensors arranged at the four corners of the lifting platform, calculates the maximum pressure difference value between the pressure values,

[0073] If the maximum pressure difference value is less than or equal to the pressure difference evaluation value, the sensing unit determines that the center of gravity of the goods on the lifting platform is in the first deviation level.

[0074] If the maximum pressure difference value is greater than the pressure difference evaluation value, the sensing unit determines that the center of gravity of the goods on the lifting platform is in the second deviation level.

[0075] The pressure difference evaluation value is a preset value set according to the historical pressure data of the four corners of the lifting platform.

[0076] Specifically, due to the human factors in the goods loading process, the center of gravity of the goods on the lifting platform is inevitably deviated after loading. The sensing unit determines the deviation level of the center of gravity of the goods by using the maximum pressure difference value of the pressure values at the four corners of the lifting platform, thereby distinguishing the center of gravity deviation within the normal range from the center of gravity deviation beyond the normal range. Compared with directly adjusting the scheme according to the center of gravity deviation, the adjusting workload is reduced, and the flexibility of the lifting device in lifting personnel and goods is improved.

[0077] The lifting device has a risk of imbalance, and when the sensor unit determines that the center of gravity of the goods is in the second deviation level, the actual height of the lifting platform in the pre-lifting stage is detected by using the height sensor, and the vertical deviation of the lifting platform in the pre-lifting stage is calculated, which is equal to the difference between the pre-lifting degree and the detected actual height.

[0078] When the sensor unit determines that the weight level of the goods is in the first weight level, if the vertical deviation is less than or equal to the first safety range, the sensor unit determines that the amplitude of the lifting platform meets the safety standard, and sends a signal to the control unit to reduce the lifting speed in the uniform speed stage.

[0079] Specifically, the control unit reduces the lifting speed in the uniform speed stage by the hoist according to the ratio of the vertical deviation to the first safety range.

[0080] If the vertical deviation is greater than the first safety range, the sensor unit determines that the amplitude of the lifting platform does not meet the safety standard, and adds a test stage.

[0081] When the sensor unit determines that the weight level of the goods is in the second weight level, if the vertical deviation is less than or equal to the second safety range, the sensor unit determines that the amplitude of the lifting platform meets the safety standard, and adds a test stage.

[0082] If the vertical deviation is greater than the second safety range, the sensor unit determines that the amplitude of the lifting platform does not meet the safety standard, and issues an imbalance warning information, and sends a signal to the control unit to control the hoist to lower the lifting platform to the bottom of the lifting device.

[0083] The first safety range and the second safety range are equal to the product of the reference range and the first weight and the second weight, and the reference range is a preset value set according to the historical data of the amplitude of the lifting platform.

[0084] Specifically, when the center of gravity of the goods deviates, the greater the weight level of the goods, the greater the risk of imbalance that may be caused, and the smaller the vertical deviation allowed by the lifting platform. The device adjusts the judgment standard of whether the amplitude of the lifting platform in different weight levels meets the safety standard by setting the weight corresponding to different weight levels, thereby improving the accuracy and adaptability of the judgment standard. The device detects the vertical deviation of the lifting platform in the pre-lifting stage, and adjusts the lifting speed in the uniform speed stage according to the relationship between the calculated vertical deviation and the safety range, or adds a test stage, or directly issues an imbalance warning information, thereby increasing the stability of the goods on the lifting platform, avoiding the imbalance of the goods or the sliding of the truck, and further improving the safety of the lifting device.

[0085] The control unit controls the lifting platform to move at a uniform speed in the test stage, and the sensing unit tests the actual height of the lifting platform according to the initial detection period;

[0086] If the difference between the current actual height corresponding to the current initial detection period and the historical actual height corresponding to the last initial detection period is less than the product of the lifting speed and the initial detection period, the sensing unit determines that the vertical deviation of the lifting platform decreases in the movement process.

[0087] If the difference between the current actual height corresponding to the current initial detection period and the historical actual height corresponding to the last initial detection period is greater than the product of the lifting speed and the initial detection period, the sensing unit determines that the vertical deviation of the lifting platform increases in the movement process, and sends a signal to the control unit to control the winch to lower the lifting platform to the bottom of the lifting device.

[0088] Specifically, the height difference of the lifting platform in the test stage is equal to the product of the moving speed and the moving time. The device determines whether the vertical deviation of the lifting platform in the movement process decreases by comparing the height difference with the theoretical value, tests whether the imbalance risk of the goods on the lifting platform after adjusting the moving speed decreases, determines whether the adjustment is effective, or issues an imbalance warning information, thereby reducing the difficulty of detecting the vertical deviation of the lifting platform in the movement process, verifying the feasibility and adjustment effect of the adjustment scheme of the lifting device through the test stage, and determining whether the adjustment effect can cover the weight level of the goods and the deviation level of the center of gravity of the goods.

[0089] The main functions of the intelligent sensor include: self-zero calibration, self-calibration, and self-correction; automatic compensation; automatic data collection and preprocessing; automatic testing, self-range selection, and fault finding; data storage, memory, and information processing; bidirectional communication, standardized digital output or symbolic output; judgment and decision-making processing.

[0090] The winch lifts the lifting platform to different heights, and the sensing unit calculates the height difference after the lifting device stops running according to the actual height of the lifting platform detected and the preset height input.

[0091] If the height difference is less than or equal to the difference evaluation value, the sensing unit determines that the height difference of the lifting platform after the lifting device stops running is within the normal range.

[0092] If the height difference is greater than the difference evaluation value, the sensing unit determines that the height difference of the lifting platform after the lifting device stops running is out of the normal range, and the lifting platform has a height deviation.

[0093] The difference value is an error range of the lifting device lifting the lifting platform.

[0094] When the height difference exists, the sensing unit sets a height compensation parameter according to the height difference, and controls the regulating unit to adjust the lifting height of the lifting platform.

[0095] Before the height difference exists, the sensing unit analyzes the recorded several height differences, calculates a variance value of the several height differences, and judges the reason of the height difference.

[0096] If the variance value is less than or equal to a preset variance, the sensing unit judges that the volatility of the height difference is in a normal range, the sensor has output drift, and adjusts a calibration period of the height sensor.

[0097] Specifically, the sensing unit reduces the calibration period according to a ratio of the variance value to the preset variance.

[0098] If the variance value is greater than the preset variance, the sensing unit judges that the volatility of the height difference exceeds the normal range, the winch is unstable, and adjusts a maintenance period of the winch.

[0099] Specifically, the sensing unit reduces the maintenance period according to a ratio of the preset variance to the variance value.

[0100] The preset variance is a preset value set according to historical variance data of the several height differences in the normal range.

[0101] Specifically, in the construction process, the goods need to be lifted to different floor heights, the several height difference volatilities of the device are normal in the several running processes, but when the height difference exists, it is judged that the height detected by the sensor in real time has a problem, it is determined that the reason of the height difference is that the sensor has output drift, or when the volatility of the height difference exceeds the normal range, it is judged that the winch is unstable, it is determined that the reason of the height difference is that the running state of the winch is problematic, and the calibration period of the sensor and the maintenance period of the winch are adjusted.

[0102] Therefore, the technical scheme of the present application has been described in connection with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical scheme after the changes or replacements will fall within the protection scope of the present application.

[0103] The above merely illustrates the preferred embodiments of the present application, and is not used to limit the present application; for those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A lifting device based on intelligent sensor feedback control, characterized in that: include: The lifting platform is a platform for carrying goods and personnel, which is arranged inside the frame of the lifting frame and is slidably connected to the lifting frame; A hoist, which is the lifting mechanism of the lifting platform, is connected to the lifting frame and welded to the outside of the lifting frame, and is used to vertically lift and lower the lifting platform according to a determined working mode; The lifting frame is the skeleton structure of the lifting device and is used to bear and support the weight of the entire lifting device; A lap platform, which is arranged at the exit side of the lifting platform and welded to the outer side of the lifting frame; The sensing unit, which includes an intelligent sensor, a pressure sensor, and a height sensor, can calculate the load ratio based on the weight of the cargo and determine the weight level of the cargo; determine the deviation level of the center of gravity of the cargo based on the pressure values ​​​​at the four corners of the lifting platform, and judge whether the amplitude of the lifting platform meets the safety standards based on the weight level; determine whether the lifting platform has a height deviation based on the height difference value, and determine the cause of the height deviation based on the fluctuation of the height difference value; The control unit is connected to the sensing unit and the hoist respectively, and can determine the motor operating power of the hoist according to the control signal of the sensing unit, and control the initial acceleration, lifting speed and deceleration time node of the lifting platform.

2. The lifting device based on intelligent sensor feedback control according to claim 1 is characterized in that: The working modes of the lifting device include an ascending mode and a descending mode. The ascending mode is divided into a pre-lifting stage, an acceleration stage, a uniform speed stage and a deceleration stage, and the descending mode is divided into a pre-descent stage, an acceleration stage, a uniform speed stage and a deceleration stage; The sensor unit calculates the load ratio of the cargo to the lifting device based on the ratio of the cargo weight to the rated lifting load, compares the load ratio with the critical ratio, and determines the weight level of the cargo; The critical ratio includes a first critical ratio and a second critical ratio.

3. The lifting device based on intelligent sensor feedback control according to claim 2 is characterized in that: The weight classes include a first weight class, a second weight class and a third weight class, The sensor unit sets a first weight according to a first weight level of the cargo, sets a second weight according to a second weight level of the cargo, and issues an overload warning signal according to a third weight level of the cargo; The second weight is smaller than the first weight.

4. The lifting device based on intelligent sensor feedback control according to claim 2 is characterized in that: The sensing unit is configured to transmit a signal to the control unit to control the motor operating power of the hoist to reduce the initial acceleration according to the ratio of the actual lifting load to the rated lifting load calculated by the intelligent sensor when the weight level is determined to be in the second weight level; The sensing unit is used to control the control unit to reduce the initial acceleration of the acceleration phase in the ascending mode in the ascending mode; The sensing unit is used to control the control unit to reduce the initial acceleration of the acceleration phase in the descent mode in the descent mode, and advance the descent deceleration time node of the deceleration phase in the descent mode according to the reduced initial acceleration.

5. The lifting device based on intelligent sensor feedback control according to claim 1 is characterized in that: The sensing unit is used to calculate the maximum pressure difference between the pressure values ​​according to the pressure values ​​at the four corners of the lifting platform, and judge whether the center of gravity of the cargo on the lifting platform is at the first deviation level or the second deviation level according to the comparison result of the maximum pressure difference and the pressure difference evaluation value.

6. The lifting device based on intelligent sensor feedback control according to claim 5 is characterized in that: The sensing unit calculates the vertical offset of the lifting platform in the pre-lifting stage when determining that the center of gravity of the cargo is at the second deviation level; The sensor unit determines whether the weight level of the cargo is in the first weight level or the second weight level, and compares the vertical offset with the first safety margin or the second safety margin. Determine whether the amplitude of the lifting platform meets safety standards, send a signal to the control unit to reduce the lifting speed in the uniform speed stage, or add a test stage, or issue an imbalance warning message; The first safety margin is the product of the reference margin and the first weight, and the second safety margin is the product of the reference margin and the second weight.

7. The lifting device based on intelligent sensor feedback control according to claim 6 is characterized in that: The control unit controls the lifting platform to move at the lowered lifting speed of the uniform speed stage using a winch during the test phase, and the sensor unit tests the actual height of the lifting platform according to the initial detection cycle during the test phase; The sensing unit is also used to determine whether the vertical offset of the lifting platform increases during the movement based on the comparison result of the difference between the current actual height corresponding to the current initial detection cycle and the historical actual height corresponding to the previous initial detection cycle and the product of the lifting speed and the initial detection cycle.

8. The lifting device based on intelligent sensor feedback control according to claim 1 is characterized in that: The sensing unit calculates a height difference based on the actual height of the lifting platform and the input preset height, compares the height difference with the difference evaluation value, and determines whether the height difference of the lifting platform exceeds a normal range; The sensing unit determines whether there is a height deviation of the lifting platform, sets a height compensation parameter according to the height difference, and controls the regulating unit to adjust the lifting height of the lifting platform.

9. The lifting device based on intelligent sensor feedback control according to claim 8, characterized in that: The sensing unit determines that there is a height deviation, analyzes the recorded height difference values, calculates the variance values ​​of the height difference values, compares the variance values ​​with a preset variance, and determines whether the volatility of the height difference values ​​is within a normal range.

10. The lifting device based on intelligent sensor feedback control according to claim 9, characterized in that: The sensing unit determines that the fluctuation of the height difference is within a normal range and that the height deviation is caused by output drift of the sensor, thereby reducing the calibration period; The sensing unit determines that the fluctuation of the height difference exceeds the normal range. The reason for the height deviation is that the winch is unstable, which reduces the maintenance cycle.

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