Alignment method, master module, computer storage medium and double-motor elevator

Abstract

This invention discloses an alignment method, comprising: receiving a foreign object detection signal from the lifting channel of a dual-motor hoist; sending operating information to the drive motors of two opposing lifting components when both conveying shelves have moved to the preset position; receiving actual operating position information of the two drive motors; obtaining theoretical operating position information of the drive motors based on the operating information; comparing the actual operating position information and the theoretical operating position information at the same time; and controlling the hoist to stop if the deviation between the actual operating position and the theoretical operating position of any drive motor is greater than a set deviation. The invention also discloses a main control module, a computer storage medium, and a dual-motor hoist. The use of a two-motor structure simplifies the overall structure, reduces installation accuracy requirements, improves installation efficiency, and reduces costs.

Description

Technical Field

[0001] This invention relates to the field of hoist technology, specifically to alignment methods, main control modules, computer storage media, and dual-motor hoists. Background Technology

[0002] Existing warehouse hoists / lifts generally use single-motor control, with mechanical linkage to lift the equipment. Such hoists / lifts have good motion consistency, but the structure of single-motor controlled hoists / lifts is relatively complex (the mechanical linkage structure results in more parts), and the installation requires high precision, leading to lower installation efficiency and relatively higher costs.

[0003] Therefore, designing a lifting machine structure that offers good consistency and is relatively simple is a key consideration. Summary of the Invention

[0004] This invention aims to address, to a certain extent, one of the technical problems in related technologies. To this end, this invention provides an alignment method, a main control module, a computer storage medium, and a dual-motor hoist. The use of a two-motor structure facilitates control, simplifies the overall structure, reduces installation accuracy requirements, improves installation efficiency, and reduces costs.

[0005] To achieve the above objectives, a first aspect of the present invention discloses an alignment method for the main control module of a dual-motor hoist, characterized in that the dual-motor hoist includes two opposing hoisting components, the two opposing hoisting components being used to cooperate with each other to synchronously perform hoisting operations, and the alignment method comprising the following steps:

[0006] Receive foreign object detection signals from the lifting channel of the dual-motor hoist;

[0007] If there are no foreign objects in the lifting channel, control the two corresponding conveying plates in the two opposing lifting components to move to the preset position;

[0008] When both conveying shelves have moved to the preset position, operating information is sent to the drive motors of the two opposing lifting components respectively;

[0009] Receive the actual operating position information of the two drive motors;

[0010] The theoretical operating position information of the drive motor is obtained based on the operating information;

[0011] By comparing the actual operating position information and the theoretical operating position information at the same moment,

[0012] If the deviation between the actual operating position and the theoretical operating position of any of the drive motors is greater than a set deviation, the hoist shall be stopped.

[0013] The hoist in this technical solution has two hoisting components. The two hoisting components are controlled by a control system to achieve synchronous movement and perform hoisting operations. In actual use, the two hoisting components can act independently to perform alignment operations before hoisting operations. Foreign object detection can improve the safety of the alignment adjustment process of the two hoisting components. By setting preset positions, the consistency of the initial movement of the hoisting components controlled by the two motors can be ensured. By comparing the actual running position and the theoretical running position of the two hoisting components during operation, the cumulative error of the drive motor during operation can be avoided, thereby improving the motion stability and safety of the dual-motor hoist.

[0014] Furthermore, the preset position includes a first preset position and a second preset position, and controlling the movement of corresponding two conveyor plates in the two opposing lifting components to the preset position includes,

[0015] Send a return-to-origin signal to the lifting assembly to move the conveying plate in the lifting assembly to the first preset position;

[0016] When both corresponding conveyor plates in the two relatively arranged lifting components have moved to the first preset position, the two lifting components are controlled to run unloaded.

[0017] Receive a first position signal and a second position signal from the two corresponding conveyor plates in the two relatively arranged lifting components as they move to a second preset position;

[0018] If the time interval between the received first position signal and the second position signal exceeds a set time;

[0019] The system controls the conveyor shelf that moves to the second preset position to stop, and controls the conveyor shelf that moves to the second preset position first to move in the opposite direction of the lifting operation. By setting the first preset position and the second preset position, the system can better detect whether the relative positions of the two cooperating conveyor shelves are aligned during the alignment process (both in dynamic and static operation), making the alignment more accurate.

[0020] Furthermore, in the step where the adjustment signal controls the conveyor plate that first receives the position signal to move to the second preset position, the conveyor plate that first receives the position signal moves to the second preset position in the opposite direction to the lifting operation direction. This can reduce the adjustment path and improve alignment efficiency.

[0021] Furthermore, the height deviation of the conveyor shelf corresponding to the set deviation of the drive motor operation is 2-8mm. This avoids tilting of the goods being lifted by both lifting components due to excessive height deviation.

[0022] Furthermore, an early warning signal will be issued if foreign objects are present in the lifting channel, thereby improving safety.

[0023] A second aspect of the present invention discloses a master control module, comprising: one or more processors; and a memory storing one or more computer programs, wherein when the one or more computer programs are executed by the one or more processors, the one or more processors implement the alignment method described in the first aspect.

[0024] A third aspect of the present invention discloses a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the alignment method described in the first aspect.

[0025] A fourth aspect of the present invention discloses a dual-motor hoist, including a frame. The dual-motor hoist further includes two opposing hoisting components disposed on the frame. The two opposing hoisting components are used to cooperate with each other to perform hoisting operations synchronously. Each hoisting component includes a drive motor, a conveying unit, and a plurality of conveying shelves disposed on the conveying unit. The conveying shelves on the two opposing hoisting components are arranged opposite each other in a one-to-one correspondence, and the two oppositely arranged conveying shelves jointly support the goods for hoisting. The drive motor is used to drive the conveying unit to rotate. The dual-motor hoist also includes a main control module of the second aspect and a detection component disposed on the frame. The detection component can send the detected actual operating position information of the drive motor to the main control module.

[0026] Furthermore, the detection component includes a first sensor component and a second sensor component. The first sensor component includes two first sensors disposed at the same height, each corresponding to one of the two oppositely disposed lifting components. When the conveying plate moves to a first preset position, it can trigger the corresponding first sensor and send a position signal to the main control module. The second sensor component includes two second sensors disposed at a second preset position, each corresponding to one of the two oppositely disposed lifting components. When the conveying plate moves to the second preset position, it can trigger the corresponding second sensor and send a position signal to the main control module. The first preset position and the second preset position are at different heights.

[0027] Furthermore, a lifting channel for passing goods is formed between the two opposing lifting components, and the detection component also includes a foreign object detection sensor disposed on the frame and facing the lifting channel along the lifting operation direction. The foreign object detection sensor is used to detect whether there are foreign objects in the lifting channel.

[0028] Furthermore, the detection assembly also includes a limit sensor assembly, which includes an upper limit sensor disposed on the upper part of the frame and a lower limit sensor disposed on the lower part of the frame. The upper limit sensor and the lower limit sensor are used to detect the upper limit position and the lower limit position of the lifted goods.

[0029] The structure of the dual-motor hoist disclosed in the fourth aspect of the present invention, compared with the traditional single-motor structure with mechanical linkage, reduces the requirements for the motor, simplifies the overall structure of the hoist, reduces the number of parts, and allows the first and second lifting components to be installed independently with lower installation accuracy requirements. It can be seen that the structure of the dual-motor hoist reduces the cost of consumables in both the motor itself and the mechanical design, and also improves installation efficiency.

[0030] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and accompanying drawings. The preferred embodiments or means of the present invention will be shown in detail in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of the present invention. In addition, each of these features, elements and components appearing in the following text and drawings is a plurality of, and different symbols or numbers are used for convenience of representation, but all represent parts with the same or similar construction or function. Attached Figure Description

[0031] The present invention will be further described below with reference to the accompanying drawings:

[0032] Figure 1 This is a flowchart of the alignment method of the present invention;

[0033] Figure 2 This is a flowchart of the alignment method of the present invention;

[0034] Figure 3 This is a structural diagram of the dual-motor hoist of the present invention;

[0035] Figure 4 A flowchart illustrating one embodiment of the main control module provided by the present invention;

[0036] Figure 5 A flowchart illustrating one embodiment of the computer-readable medium provided by the present invention.

[0037] in,

[0038] 1. Frame; 2. First conveyor shelf; 3. Second conveyor shelf; 4. First origin sensor; 5. Second origin sensor; 6. First position sensor; 7. Second position sensor; 8. Foreign object detection sensor; 9. Upper limit sensor; 10. Lower limit sensor; 11. First motor; 12. Second motor; 101. Processor; 102. Memory; 103. I / O interface; 104. Bus. Detailed Implementation

[0039] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain the present invention and should not be construed as limiting the invention.

[0040] The terms "an embodiment," "example," or "trademark" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this patent. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0041] See appendix Figure 1 The first aspect of the present invention discloses an alignment method for a dual-motor hoist. This alignment method is used in the main control module of the dual-motor hoist, which includes two opposing hoisting components. These two opposing hoisting components cooperate to synchronously perform hoisting operations. The alignment method includes the following steps:

[0042] In step S11, a foreign object detection signal is received from the lifting channel of the dual-motor hoist. This step is performed before each operation to improve safety. If there are foreign objects in the lifting channel, starting the lifting assembly without prior detection could cause the conveyor plate of the lifting assembly to crush the foreign objects, damaging components and potentially posing a safety risk. Therefore, the actual condition of the lifting channel needs to be checked before aligning the two opposing lifting assemblies. When a foreign object is detected in the lifting channel, a warning signal is issued. The warning signal can be set to an audible alarm or a flashing light warning, etc. After receiving the warning signal, the operator checks the lifting channel and removes the foreign object to ensure its unobstructed flow.

[0043] S12. If there are no foreign objects in the lifting channel, control the two corresponding conveying plates in the two opposing lifting components to move to the preset position; this step is the alignment operation before the dual-motor hoist runs.

[0044] S13. When both conveying plates have moved to the preset position, operation information is sent to the drive motors of the two opposing lifting components respectively. The operation information may include acceleration information and time information. When the lifting components are lifting, their operation process is generally divided into an acceleration stage, a constant speed stage and a deceleration stage. By sending acceleration information of different time stages to the drive motors, the drive motors can achieve different operating modes.

[0045] S14. Receive the actual operating position information of the two drive motors; wherein the actual operating position information of the drive motors can be detected by encoders and sensors, and the detection results are sent to the main control module. It should be noted that the actual position of the drive motor is the actual position relative to the preset position.

[0046] S15. Obtain the theoretical operating position information of the drive motor based on the operating information. The theoretical operating information of the drive motor in this step is determined by the operating information sent by the main control module. As mentioned in step S13, the operating information includes acceleration and corresponding time. When calculating the theoretical operating position information, the theoretical operating position is also calculated relative to the preset position. For example, at the preset position, the positions of the two drive motors are regarded as zero points. After receiving the operating information, the two drive motors will make corresponding movements according to the operating information (acceleration information and time information). Due to the error of the motor itself, the actual position reached by the drive motor during actual operation may have an error compared with the theoretically reachable position. In this step, the actual operating position of the drive motor is detected based on the actual operation of the drive motor, and the theoretical operating position is calculated.

[0047] S16. Compare the actual operating position information and the theoretical operating position information at the same time.

[0048] If the deviation between the actual operating position and the theoretical operating position of any of the drive motors is greater than a set deviation, the hoist shall be stopped.

[0049] In step S16, by comparing the actual operating position information with the theoretical operating position information, the consistency of the drive motor operation can be obtained. When the operating deviation of either of the two drive motors is large, it means that the height difference between the conveying plates corresponding to the two lifting components is large. At this time, when the material is supported by the two corresponding conveying plates at the same time, it may tilt significantly. If the lifting operation is carried out, it may easily cause safety risks. Therefore, it is necessary to stop the machine, carry out maintenance, and then repeat the above steps S10-S16 to ensure the safety of operation.

[0050] The above embodiments provide an alignment method for a dual-motor hoist during its lifting operation.

[0051] The alignment method of the present invention further includes, in S12, adjusting the two conveyor plates to be aligned before the lifting operation, see Appendix. Figure 2 The specific method is as follows:

[0052] S121. If there are no foreign objects in the lifting channel, send a return-to-origin signal to the lifting assembly to move the conveying plate in the lifting assembly to the first preset position.

[0053] S122. When both corresponding conveyor shelves in the two opposing lifting components have moved to the first preset position, a lifting signal is sent to the lifting components to enable them to perform lifting operations. As described in S11 above, the lifting components can be started at this time, provided that the lifting channel is unobstructed. However, the lifting operation is not performed directly at this time. Instead, the two lifting components need to be aligned before the lifting operation officially begins to avoid safety risks that may be caused by the tilting of the goods during lifting. Under the control of the return-to-origin signal, the two corresponding conveyor shelves in the two lifting components move to the first preset position respectively. At the first preset position, the supporting surfaces of the corresponding conveyor shelves on the two lifting components are on the same plane. This ensures the stability of the material when it is supported by the supporting surfaces of the corresponding conveyor shelves on the two lifting components when the lifting operation is started, thereby improving the safety of the lifting process.

[0054] S123, Receive the first position signal and the second position signal of the two corresponding conveying plates in the two relatively arranged lifting components moving to the second preset position;

[0055] S124. If the time interval between the received first position signal and the second position signal exceeds a set time;

[0056] The control system keeps the conveyor plate corresponding to the later received position signal at the second preset position and issues an adjustment signal to move the conveyor plate corresponding to the earlier received position signal to the second preset position.

[0057] During actual lifting operations, due to assembly errors and the precision errors of the motor itself, a height difference may occur between the corresponding conveyor shelves on the two lifting components. When the goods are supported by two corresponding conveyor shelves simultaneously, the goods may tilt, with one side lower than the other. If the lifting operation continues under these conditions, it can easily lead to safety risks. However, it is inconvenient to detect when the height difference occurs between the corresponding conveyor shelves on the two lifting components and whether the height difference is within the allowable range during operation. If the machine is stopped for inspection, it will greatly affect work efficiency.

[0058] This invention provides a method for detecting excessive height difference between corresponding conveyor shelves on two lifting components during lifting operations. This detection can be performed without stopping the machine; when the height difference is within an acceptable range, no stoppage is required, significantly improving work efficiency. Stoppage is only necessary when the time interval between the received first position signal and the second position signal exceeds a set time (i.e., when the height difference between the corresponding conveyor shelves on the two lifting components is excessive). In this case, the conveyor shelf corresponding to the later received position signal (the one that arrives at the second preset position later among the two corresponding output shelves) is kept at the second preset position, and an adjustment signal is issued to move the conveyor shelf corresponding to the earlier received position signal to the second preset position.

[0059] The specific method for pre-aligning two corresponding output shelves before the lifting operation is as follows: When the time difference between the first position signal and the second position signal exceeds a set time, the dual-motor hoist stops. At this time, the conveyor shelf corresponding to the later received position signal stops at the second preset position. Then, the conveyor shelf corresponding to the first received position signal is controlled to move independently, so that it moves back in the opposite direction of the lifting direction and moves to the second preset position again. At this time, the two corresponding conveyor shelves can simultaneously trigger the corresponding components to send the first position signal and the second position signal, which means that the height difference between the two corresponding output shelves is less than the allowable height difference (2-8mm), indicating that the two corresponding output shelves have been aligned and the lifting operation can continue.

[0060] As can be seen, the two motors in the dual-motor hoist of this invention work synchronously when performing lifting operations. When not performing lifting operations, they can operate independently to achieve alignment adjustment. Foreign object detection improves safety during the alignment adjustment process. The return-to-origin detection ensures the consistency of movement of the lifting components controlled by the two motors, better guaranteeing the stability of cargo lifting. Alignment detection during each lifting operation interval further enhances the safety of the lifting operation. The combination of return-to-origin and alignment detection ensures the consistency of movement of the dual-motor hoist during lifting operations and avoids the cumulative errors caused by installation errors between components and operational errors between the two motors, thus improving the motion stability and safety of the dual-motor hoist. Furthermore, the dual-motor control in this application can be achieved using a self-developed motherboard, reducing the workload of the industrial control computer and making the testing environment simpler and more convenient to use.

[0061] In one embodiment of the present invention, in the step of controlling the conveyor plate that first receives the position signal to move to the second preset position, the conveyor plate that first receives the position signal moves to the second preset position in the opposite direction to the lifting operation direction. This alignment adjustment method is the optimal alignment path, which can effectively improve alignment efficiency and thus improve lifting efficiency.

[0062] As mentioned above, to ensure the smooth operation of the lifting operation, within the set time, the distance the first and second conveying shelves move is not greater than the allowable height deviation of the first and second conveying shelves during the lifting operation. Specifically, the allowable height deviation between corresponding conveying shelves in the two opposing lifting components is 2–8 mm (in actual design, this height deviation can be converted into the setting deviation of the drive motor described in S16). This avoids the possibility of tilting of the goods being lifted by the two lifting components simultaneously due to excessive height deviation.

[0063] It should be noted that in actual operation, it is not convenient to detect the height difference between two opposite output shelves. The main control module in this invention determines the height difference between two opposite output shelves by calculating the time interval between the two opposite output shelves reaching the second preset position. After receiving the first position signal and the second position signal and obtaining the interval time, the main control module will first combine the current running speed of the conveying shelf to obtain the distance value within the interval time. This distance value is the height difference between the two opposite conveying shelves.

[0064] As one embodiment of the present invention, a warning signal is issued when foreign objects are present in the lifting channel. When the main control module issues a warning signal, it indicates that there may be foreign objects in the lifting channel. At this time, the lifting component cannot directly perform the lifting action to avoid squeezing and damaging the goods in the lifting channel or damaging the lifting component itself. At this time, the staff needs to clean the lifting channel in time to ensure that the lifting channel is unobstructed.

[0065] As a second aspect of the present invention, a main control module is provided, wherein, as Figure 4 As shown, the main control module includes: one or more processors 101; and a memory 102 storing one or more computer programs, which, when executed by the one or more processors 101, cause the one or more processors 101 to implement the alignment method provided in the first aspect of the present invention.

[0066] The main control module may also include one or more I / O interfaces 103 connected between the processor 101 and the memory 102, configured to enable information interaction between the processor 101 and the memory 102.

[0067] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit 101 (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory 102 (RAM, more specifically SDRAM, DDR, etc.), read-only memory 102 (ROM), electrically erasable programmable read-only memory 102 (EEPROM), and flash memory (FLASH); the I / O interface 103 (read-write interface) is connected between the processor 101 and the memory 102, enabling information exchange between the processor 101 and the memory 102, including but not limited to a data bus 104 (Bus).

[0068] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the main control module.

[0069] As a third aspect of the present invention, such as Figure 5 As shown, a computer-readable medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor 101, implements the alignment method provided by the present invention.

[0070] The fourth aspect of the present invention discloses a dual-motor hoist, as shown in the accompanying drawings, including a frame. In this embodiment, the frame 1 is generally configured as a vertical frame structure with a certain height, serving as the mounting base for the hoisting components. A hoisting channel is formed on the frame 1 between the first hoisting component and the second hoisting component. The hoisting channel is used as a channel for goods or goods movement during the hoisting process. The dual-motor hoist also includes two opposing hoisting components (defined as the first hoisting component and the second hoisting component for ease of description) disposed on the frame. The first hoisting component and the second hoisting component are used to cooperate with each other to perform hoisting operations synchronously. The hoisting operation in the present invention is carried out by two structurally independent hoisting components. The first hoisting component and the second hoisting component do not interfere with each other during movement and can move independently (alignment operation) or be controlled by the main control module to move synchronously (hoisting operation).

[0071] The first lifting component includes a first motor 11 and multiple first conveying shelves 2, and the second lifting component includes a second motor 12 and multiple second conveying shelves 3. The multiple first conveying shelves 2 and multiple second conveying shelves 3 are arranged in a one-to-one correspondence. During operation, the relatively arranged first conveying shelves 2 and second conveying shelves 3 work together to support the lifting of the goods.

[0072] In this embodiment, the first and second lifting components of the dual-motor hoist are two independent lifting parts. Besides working together synchronously, they can also operate independently, facilitating adjustment of their alignment. The alignment adjustment before lifting operations is performed according to the alignment method disclosed in the first aspect. This embodiment includes a detection component on the frame 1 for detecting the lifting channel and the positions of the first conveying plate 2 and the second conveying plate 3. It also includes a main control module disclosed in the second aspect, which controls the operating state of the first motor 11 and the second motor 12. The detection component can send the detected information to the main control module.

[0073] When performing lifting operations, the dual-motor hoist of this invention has a relatively simple overall structure compared to the complex mechanical linkage structure of a single-motor hoist. The only difference is that the alignment of the dual lifting components needs to be considered during use.

[0074] To address the alignment issue during the lifting operation of the dual-motor hoist in this invention, one embodiment of the invention includes a detection component comprising a first sensor component and a second sensor component. The first sensor component includes two first sensors disposed at the same height, each corresponding to one of the two oppositely disposed lifting components. The conveying plate can trigger the corresponding first sensor and send a position signal to the main control module when it moves to a first preset position. The second sensor component includes two second sensors disposed at a second preset position, each corresponding to one of the two oppositely disposed lifting components. The conveying plate can trigger the corresponding second sensor and send a position signal to the main control module when it moves to the second preset position. The first preset position and the second preset position are at different heights.

[0075] See appendix Figure 3In one embodiment of the present invention, the first sensor assembly is configured as an origin sensor assembly. The two first sensors include a first origin sensor 4 and a second origin sensor 5. The origin sensor assembly includes a first origin sensor assembly and a second origin sensor assembly disposed on opposite sides of the lifting channel of the frame 1. The first origin sensor assembly includes a first origin sensor 4 disposed on the frame 1 and a first origin triggering element disposed on at least one first conveying plate 2, cooperating with the first origin sensor 4. The second origin sensor assembly includes a second origin sensor 5 disposed on the frame 1 and a second origin triggering element disposed on at least one second conveying plate 3, cooperating with the second origin sensor 5. The first origin sensor 4 and the second origin sensor 5 are at the same height. In actual design, the first origin sensor assembly and the second origin sensor assembly can be configured to have the same structure, thus reducing the types of components and reducing costs. Of course, they can also be configured with different structures. The following description uses the first origin sensor assembly of the first origin sensor assembly and the second origin sensor assembly with the same structure as an example to illustrate its installation and working principle:

[0076] The first origin sensor assembly includes a first origin sensor 4 and a first origin trigger. The first origin sensor 4 is mounted on the frame 1, and can be installed at positions on the frame 1 corresponding to the two ends or the middle of the first conveying plate 2 of the first lifting assembly. The first origin trigger is installed on the first conveying plate 2 at a position corresponding to the first origin sensor 4. Thus, the first origin sensor 4 is a fixed component, and the first origin trigger is a movable component that moves with the first conveying plate 2. When the first origin trigger moves to the same height position as the first origin sensor 4, it can trigger the first origin sensor 4 and emit a first trigger signal, indicating that the return-to-origin operation of the first conveying plate 2 is complete. Similarly, the second conveying plate 3 also performs a return-to-origin operation according to the above principle. It should be noted that in this embodiment, the first origin sensor 4 and the first origin trigger can be specifically selected as photoelectric sensors and metal blocks. In actual use, the metal block can be configured to trigger in contact with or without contact with the photoelectric sensor. Similarly, the second origin sensor 5 and the second origin trigger can also be selected from the same components. Of course, there are many similar triggering structures, and designers can choose one based on factors such as reliability and cost.

[0077] Of course, in actual design, in order to ensure the accuracy of the return-to-origin operation, multiple sets of first origin sensor components can be set at the same height and distributed in parallel, respectively at the two ends and the middle of the first conveying plate 2. In this way, the combined use of multiple first origin sensor components can also detect whether the first conveying plate 2 itself is tilted. The second origin sensor component is designed similarly.

[0078] In this embodiment, the second sensor assembly is configured as a position sensor assembly. The two second sensors include a first position sensor 6 and a second position sensor 7. The position sensor assembly comprises a first position sensor assembly and a second position sensor assembly disposed on opposite sides of the lifting channel of the frame 1. The first position sensor assembly includes a first position sensor 6 disposed on the frame 1 and a first alignment trigger disposed on each of the first conveying shelves 2, cooperating with the first position sensor 6. The second position sensor assembly includes a second position sensor 7 disposed on the frame 1 and a second alignment trigger disposed on each of the second conveying shelves 3, cooperating with the second position sensor 7. Similarly, the first and second position sensor assemblies in this embodiment can be configured with the same structure, thus reducing the number of components and cost. Alternatively, they can be configured with different structures. The following description uses the first position sensor assembly of the first and second position sensor assemblies with the same structure as an example to illustrate its installation and working principle:

[0079] The first position sensor assembly includes a first position sensor 6 and a first alignment trigger. The first position sensor 6 is fixed on the frame 1, and the first alignment trigger is fixed on the first conveying plate 2 of the first lifting assembly at a position corresponding to the first position sensor 6. Thus, the first position sensor 6 is a fixed component, and the first alignment trigger is a movable component that moves with the first conveying plate 2. When the first alignment trigger moves to the same height position as the first position sensor 6, it can trigger the first position sensor 6 and send a first trigger signal. This indicates that the first conveying plate 2 and the first position sensor 6 are in a level state. In actual operation, after working for a period of time, due to the accumulation of errors from its own structure and the operation errors of the first motor 11 and the second motor 12, there may be a height difference between the first conveying plate 2 and the second conveying plate 3, that is, their support surfaces are not on the same plane. If the goods continue to be lifted at this time, the goods will tilt when placed on the first conveying plate 2 and the second conveying plate 3, and the goods are prone to tipping over during the lifting process, resulting in a significant safety risk. The function of the first and second position sensor components is to eliminate this error. According to the alignment method described above, after each lifting action is completed, the main control module will automatically perform alignment detection to eliminate the accumulated error, which can greatly improve the stability of the dual-motor hoist during operation.

[0080] One can conceive of is that, in the specific design of the first and second position sensor assemblies, the first position sensor 6 and the second position sensor 7 can be photoelectric sensors, and the first and second alignment triggers can be metal sheets that can be sensed by the photoelectric sensors. It can be seen that the position sensor assembly and the origin sensor assembly can be structurally identical, but different functions can be achieved by setting their installation positions and different control modes. The first position sensor 6 and the second position sensor 7 can be installed at the same height to improve installation efficiency, or they can be installed at different heights. Furthermore, the specific number can be set to a structure with multiple sensors arranged side-by-side to improve detection accuracy and avoid the problem of detection failure due to the damage of one sensor.

[0081] One embodiment of the present invention includes a foreign object detection sensor 8 disposed at the top or bottom of the frame 1 and facing the lifting channel, for detecting the presence of foreign objects within the lifting channel. The foreign object detection sensor 8 is configured to be installed at the top or bottom, so that its detection range can cover the entire lifting channel. In actual arrangement, foreign object detection sensors 8 can be installed at the four corners and the center of the lifting channel, allowing for omnidirectional detection and improving detection accuracy. It should be noted that the foreign object detection sensor 8 in this embodiment can be a through-beam photoelectric sensor or a reflective sensor, or it can also be an infrared sensor or other sensors capable of detecting the presence of objects.

[0082] Since goods generally have a certain volume, and the size of these volumes varies, to prevent the movement of the hoist from squeezing the goods during the lifting process, the detection component of this invention also includes a limit sensor assembly for detecting the position of the goods being lifted by the hoist. The limit sensor assembly includes an upper limit sensor 9 disposed on the upper part of the frame 1 and a lower limit sensor 10 disposed on the lower part of the frame 1. The limit sensor assembly can detect the position of the goods (a response element or trigger element that can be sensed by the limit sensor assembly can be installed on the goods), thus preventing damage to the goods caused by excessive lifting movement.

[0083] In summary, this invention discloses a dual-motor hoist structure. Compared to the traditional single-motor structure with mechanical linkage, it reduces the requirements for the motor, simplifies the overall structure of the hoist, and reduces the number of parts. Furthermore, during installation, the first and second lifting components can be installed independently, with lower installation precision requirements. It can be seen that the dual-motor hoist structure reduces the cost of consumables in both the motor itself and the mechanical design, while also improving installation efficiency. In addition, it simplifies the operation of traditional single-motor hoists controlled by an industrial computer. Compared to single-motor hoists, the dual-motor hoist of this invention adds an alignment operation before or during use, which effectively ensures stable and safe operation of the lifting action and the safety of the lifted goods. By setting up an alignment method for the dual-motor hoist, which can be controlled using a self-developed motherboard with modular design, the workload of the industrial computer is simplified compared to the traditional single-motor hoist control operation, making the entire workflow more efficient and convenient to use.

[0084] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. An alignment method for a master control module of a dual motor hoist, the method comprising: The double-motor elevator comprises two opposite lifting assemblies for performing lifting operation in synchronization by mutual alignment, and the alignment method comprises the following steps: Receiving a foreign matter detection signal of a lifting channel of the double-motor elevator; In the case that there is no foreign matter in the lifting channel, moving two corresponding conveying layer plates in the two opposite lifting assemblies to a preset position; In the case that the two conveying layer plates are both moved to the preset position, sending operation information to driving motors of the two opposite lifting assemblies respectively; Receiving actual operation position information of the two driving motors; Obtaining theoretical operation position information of the driving motors according to the operation information; Comparing the actual operation position information and the theoretical operation position information at the same time, In the case that the deviation between the actual operation position and the theoretical operation position of any one of the driving motors is greater than a set deviation, controlling the elevator to stop.

2. The method of aligning according to claim 1, wherein, The preset position comprises a first preset position and a second preset position, and the moving of the two corresponding conveying layer plates in the two opposite lifting assemblies to the preset position comprises: Sending a home signal to the lifting assemblies to move the conveying layer plates in the lifting assemblies to the first preset position; In the case that the two corresponding conveying layer plates in the two opposite lifting assemblies are both moved to the first preset position, controlling the two lifting assemblies to run empty; Receiving a first position signal and a second position signal of the two corresponding conveying layer plates in the two opposite lifting assemblies moving to the second preset position; In the case that the time interval of the received first position signal and second position signal exceeds a set time; Controlling the conveying layer plate moving to the second preset position later to stop, and controlling the conveying layer plate moving to the second preset position earlier to move in the opposite direction of the lifting operation direction.

3. The method of aligning according to claim 1, wherein, The height deviation of the conveying layer plate corresponding to the set deviation of the driving motor operation is 2-8 mm.

4. The method of aligning according to claim 1, wherein, The alignment method further comprises, in the case that there is foreign matter in the lifting channel, sending a warning signal.

5. A master module, characterized by The computer program is executed by the processor (101) to implement the alignment method according to any one of claims 1-4. The computer program is executed by the processor (101) to implement the alignment method according to any one of claims 1-4.

6. A computer readable medium having stored thereon a computer program, characterized in that, ​ 7. A double-motor elevator comprising a frame (1), characterized in that The dual-motor hoist also includes two opposing lifting components mounted on the frame. The two opposing lifting components are used to cooperate and synchronously perform lifting operations. Each lifting component includes a drive motor, a conveying unit, and multiple conveying shelves mounted on the conveying unit. The conveying shelves on the two opposing lifting components are arranged in a one-to-one correspondence, and the two opposing conveying shelves jointly support the goods for lifting. The drive motor is used to drive the conveying unit to rotate. The dual-motor hoist also includes the main control module as described in claim 5 and a detection component mounted on the frame. The detection component can send the detected actual operating position of the drive motor to the main control module.

8. The dual motor elevator of claim 7, wherein, The detection assembly includes a first sensor assembly and a second sensor assembly. The first sensor assembly includes two first sensors disposed at the same height, each corresponding to one of the two oppositely disposed lifting components. When the conveying plate moves to a first preset position, it triggers the corresponding first sensor and sends a position signal to the main control module. The second sensor assembly includes two second sensors disposed at a second preset position, each corresponding to one of the two oppositely disposed lifting components. When the conveying plate moves to the second preset position, it triggers the corresponding second sensor and sends a position signal to the main control module. The first preset position and the second preset position are at different heights.

9. Double motor lift according to claim 7 or 8, characterized in that A lifting channel for passing goods is formed between the two opposing lifting components. The detection component also includes a foreign object detection sensor (8) disposed on the frame (1) and facing the lifting channel along the lifting operation direction. The foreign object detection sensor (8) is used to detect whether there are foreign objects in the lifting channel.

10. Double motor lift according to claim 7 or 8, characterized in that The detection assembly also includes a limit sensor assembly, which includes an upper limit sensor (9) disposed on the upper part of the frame (1) and a lower limit sensor (10) disposed on the lower part of the frame (1). The upper limit sensor (9) and the lower limit sensor (10) are used to detect the upper limit position and the lower limit position of the lifted goods.

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