Control method of a rotating device for hoisting operations and rotating device

Abstract

The application provides a control method of a rotating device for hoisting operation and the rotating device. The rotating device comprises a first connecting piece, a second connecting piece and a driving control module. The first connecting piece is used for connecting a hook. The second connecting piece connects the first connecting piece and a chain. The driving control module is used for driving the second connecting piece to rotate. The control method of the rotating device provided by the application controls the driving control module to drive the second connecting piece to rotate to drive a target object to rotate based on a control instruction input by a user. Actual rotation parameters of the target object relative to a target coordinate system are obtained, and the driving control module is controlled to drive the second connecting piece to rotate according to the deviation between the actual rotation parameters and target rotation parameters. In the above manner, the rotating device can realize closed-loop rotation control of a hoisted object in the hoisting process, solves the problem of poor accuracy of the existing manual traction mode, and improves the accuracy, real-time response and safety of the rotation adjustment of the hoist.

Description

Technical Field

[0001] This application belongs to the field of lifting equipment technology, and more specifically, relates to a control method and a rotating device for lifting operations. Background Technology

[0002] In the fields of large-scale modular construction, heavy equipment transportation and installation, the rotational attitude control of heavy lifting equipment and the target object during the lifting process is a core element in ensuring construction safety and installation efficiency.

[0003] In current construction processes, manual traction ropes are commonly used to control the rotation of the hoisted target object. However, this method has poor attitude adjustment accuracy and high safety risks. Although some existing lifting devices can rotate, they are usually integrated with specific lifting equipment, resulting in problems such as heavy weight, inconvenient disassembly and assembly, and poor compatibility.

[0004] Therefore, there is an urgent need for a rotating device and its control method to improve the accuracy and safety of attitude adjustment, while achieving lightweight design, quick assembly and disassembly, and compatibility with standard hooks and chains. Summary of the Invention

[0005] The purpose of this application is to provide a control method and a rotating device for hoisting operations, which solves the problems of low accuracy, poor safety and insufficient compatibility of existing hoisting rotation control methods.

[0006] To achieve the above objectives, in a first aspect, embodiments of this application provide a control method for a rotating device used in hoisting operations. The rotating device includes a first connecting member, a second connecting member, and a drive control module. The first connecting member is used to connect a hook, and the second connecting member is rotatably connected to the first connecting member about the axis of the rotating device. The second connecting member is used to connect a lifting chain. The drive control module is located on the first connecting member and is used to drive the second connecting member to rotate. The control method includes: Based on the first control command input by the user, the control drive module drives the second connector to rotate, thereby causing the target object to rotate; the first control command is used to indicate the target rotation parameters of the target object, and the target rotation parameters include at least one of the target rotation angle, target rotation speed and target rotation direction; Obtain the actual rotation parameters of the target object relative to the target coordinate system. The actual rotation parameters include at least one of the actual rotation angle, actual rotation speed, and actual rotation direction. Based on the deviation between the actual rotation parameters and the target rotation parameters, the control module drives the second connecting piece to rotate until the target object meets the target rotation parameters.

[0007] In one possible implementation of the first aspect, the drive control module includes a drive component, a first angle sensor, a second angle sensor, and a reducer; the output end of the drive component is connected to the input end of the reducer, the output end of the reducer is connected to a second connector, the first angle sensor is used to detect the yaw angle of the first connector relative to the target coordinate system, and the second angle sensor is used to detect the rotation angle of the output shaft of the drive component. Obtain the actual rotation angle of the target object relative to the target coordinate system, including: Obtain the yaw angle of the first connector relative to the target coordinate system, as acquired by the first angle sensor; Obtain the output shaft rotation angle of the drive component acquired by the second angle sensor; Obtain the reduction ratio of the reducer and the initial offset angle of the target object; The relative rotation angle between the first connector and the second connector is determined based on the output shaft rotation angle, the reduction ratio, and the initial offset angle. The actual rotation angle of the target object relative to the target coordinate system is obtained by fusion calculation based on yaw angle and relative rotation angle.

[0008] In one possible implementation of the first aspect, the control method further includes: Check the status of the rotating device and determine if there is any abnormality in the rotating device; If a malfunction is detected in the rotating device, a second control command and / or alarm information are output; wherein, the second control command is used to control the drive component to reduce angular velocity, reduce input current, or enter a braking holding state, and the alarm information is used to notify the user that a malfunction has occurred in the rotating device. The malfunction of the rotating device includes at least one of the following situations: The feedback current of the driving component exceeds the current threshold. The difference between the output equivalent torque of the reducer and the preset safe torque threshold is less than or equal to the preset value; The output equivalent torque of the reducer is greater than or equal to the safe torque threshold. The change in yaw angle of the first connector relative to the target coordinate system or the deviation of the yaw angle relative to the reference yaw angle is greater than or equal to the yaw angle threshold. The deviation between the actual rotation parameters and the target rotation parameters is greater than or equal to the deviation threshold. The actual rotational angular velocity and / or the actual rotational angular acceleration are greater than or equal to the velocity threshold. The communication interruption duration of the communication unit of the rotating device exceeds the preset duration; The power supply voltage of the rotating device is less than or equal to the voltage threshold. The data collected by the first angle sensor and / or the second angle sensor is abnormal.

[0009] In one possible implementation of the first aspect, the control method further includes: Obtain the actual operating current of the drive component; The output torque of the drive component is determined based on the actual operating current and the torque constant of the drive component. The equivalent output torque of the reducer is determined based on the output torque, the reduction ratio of the reducer, and the transmission efficiency of the reducer.

[0010] In one possible implementation of the first aspect, the control method may further include: controlling the drive component to decelerate and enter a braking holding state when it is determined that a preset condition is met; the preset condition includes at least one of the following: The target object satisfies the target rotation parameters; The system receives a third control command input from the user, which is used to instruct the rotating device to stop rotating.

[0011] Secondly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method as described in any of the first aspects. This aspect can serve as a software implementation of the aforementioned control method.

[0012] Thirdly, embodiments of this application provide a rotating device, including: The first connector is used to connect the hook, and the first connector has a first groove on one side along the first direction; A second connector, rotatably connected to the side of the first connector with the first groove about the axis of the rotating device, is used to connect a lifting chain; and, A drive control module is disposed on the first connector and at least partially located within the first groove. The drive control module is used to drive the second connector to rotate. The straight line containing the first direction is parallel to the axis of the rotating device.

[0013] In one possible implementation of the third aspect, the drive control module includes a drive component, a power supply, a main control circuit board, a communication unit, a first angle sensor, a second angle sensor, and a reducer. The output shaft of the drive component is connected to the input end of the reducer. The reducer is located in a first groove, and the output end of the reducer is connected to a second connector. The main control circuit board is electrically connected to the drive component, the power supply, the communication unit, the first angle sensor, and the second angle sensor. The first angle sensor is used to detect the yaw angle of the first connector relative to the target coordinate system, and the second angle sensor is used to detect the rotation angle of the output shaft of the drive component.

[0014] In one possible implementation of the third aspect, the side of the first connector facing away from the second connector is provided with a receiving groove communicating with the first groove; The drive control module also includes a housing, which is located in a receiving slot. The drive components, power supply, main control circuit board, communication unit, first angle sensor and second angle sensor are all located inside the housing.

[0015] In one possible implementation of the third aspect, the rotating device further includes a support member comprising a first annular portion and an extension portion. The first annular portion is connected to the side of the first connector facing the second connector, and the extension portion extends inward from the inner wall of the first annular portion and is disposed near the side of the first annular portion away from the first connector. The extension portion supports the reducer.

[0016] In one possible implementation of the third aspect, the first connector includes a second annular portion and a mounting base. The second annular portion supports the mounting base. The second connector is rotatably connected to the second annular portion about the axis of the rotating device. The second annular portion has a first groove. The mounting base has a receiving groove communicating with the first groove on the side opposite to the second connector. The drive control module includes a housing disposed in the receiving groove. The mounting base is used to connect the hook.

[0017] In one possible implementation of the third aspect, the side wall of the mounting base is provided with mounting holes for fasteners to be detachably connected to the hook. The housing has a second groove corresponding to the mounting hole, so as to form a gap between the groove and the side wall where the mounting hole is located.

[0018] In one possible implementation of the third aspect, the first connector further includes a plurality of reinforcing ribs, each reinforcing rib being connected to the second annular portion and the mounting base respectively, and the plurality of reinforcing ribs being evenly spaced around the axis of the rotating device.

[0019] In one possible implementation of the third aspect, the rotating device further includes a slewing bearing, which includes an outer ring, an inner ring, and rolling elements. The outer ring is rotatably fitted onto the inner ring, and the rolling elements are tactilely connected to the outer ring and the inner ring. The outer ring supports a first connecting member, and the inner ring is connected to a second connecting member.

[0020] Fourthly, embodiments of this application provide a lifting device, which includes a hook, a chain, and a rotating device as described in any of the third aspects. A first connector is connected to the hook, a second connector is connected to the chain, and the chain is used to lift a target object.

[0021] The beneficial effects of the control method for the rotating device provided in this application are as follows: The control method for a rotating device used in hoisting operations disclosed in this application involves the rotating device controlling a drive control module to rotate a second connecting member based on a first control command input by the user, thereby rotating the target object. The method periodically acquires the actual rotation parameters of the target object and controls the drive control module to rotate based on the deviation between the actual and target rotation parameters. Through this method, the rotating device can achieve closed-loop rotation control of the target object hoisted on the lifting chain during the hoisting process, automatically correcting rotation deviations. This solves the problem of poor attitude adjustment accuracy in existing manual traction methods and improves the accuracy, real-time response, and safety of the lifting device's rotation adjustment.

[0022] Furthermore, by setting the rotating device as an independent and detachable module connected between the hook and the chain, the device can be quickly connected or removed without changing the existing lifting device structure, thereby realizing active rotation control of various types of lifting devices. This solves the problems of heavy weight, inconvenient disassembly and assembly, and poor compatibility of existing integrated rotating lifting devices, and significantly improves the flexibility and applicability of lifting operations. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A three-dimensional structural diagram of the rotating device provided in the embodiments of this application. Figure 1 ; Figure 2 A three-dimensional structural diagram of the rotating device provided in the embodiments of this application. Figure 2 ; Figure 3 This is a top view of the rotating device provided in the embodiments of this application; Figure 4 for Figure 3 Sectional view in the AA direction; Figure 5 A three-dimensional structural diagram of the rotating device (hidden portion of the housing) provided in an embodiment of this application; Figure 6 A three-dimensional structural diagram of the first connector provided in the embodiments of this application. Figure 1 ; Figure 7 A three-dimensional structural diagram of the first connector provided in the embodiments of this application. Figure 2 ; Figure 8 A three-dimensional structural diagram of the second connector provided in the embodiments of this application. Figure 1 ; Figure 9 A three-dimensional structural diagram of the second connector provided in the embodiments of this application. Figure 2 ; Figure 10 A three-dimensional structural diagram of the support member provided in the embodiments of this application; Figure 11 This is a three-dimensional structural diagram of the lifting device provided in the embodiments of this application; Figure 12 Flowchart of the control method provided in the embodiments of this application Figure 1 ; Figure 13 Flowchart of the control method provided in the embodiments of this application Figure 2 .

[0025] The following are the labeling elements in the figure: 1-Rotating device; 10-First connector; 100-Second annular portion; 1000-First groove; 101-Mounting base; 1010-Receiving groove; 1011-Mounting hole; 102-Reinforcing rib; 11-Second connector; 12-Drive control module; 120-Drive component; 121-Power supply; 122-Main control circuit board; 123-Communication unit; 124-First angle sensor; 125-Reducer; 126-Housing; 1260-Second groove; 13-Support member; 130-First annular portion; 131-Extension portion; 14-Slewing bearing; 140-Outer ring; 141-Inner ring; 142-Rolling element; 2-Lifting gear; 20-Hook; 21-Lifting chain; 22-Fasteners; X - First direction. Detailed Implementation

[0026] To make the technical problems, technical solutions and beneficial effects to be solved by this application clearer, the following describes this application in further detail with reference to the accompanying drawings and embodiments.

[0027] In the fields of large-scale modular construction, heavy equipment transportation and installation, controlling the rotational attitude of heavy lifting equipment and the target object during the lifting process is a core aspect of ensuring construction safety and installation efficiency.

[0028] In current construction processes, when heavy modules are lifted from transport vehicles and need to be rotated in the air to their target position, factors such as lifting impact, gusts of wind, uneven loading of slings, and asymmetrical center of gravity can easily cause uncontrolled rotation, posing a significant collision risk to surrounding structures, construction personnel, and the module itself. The commonly used method is manual traction rope control for rotating the target object, where multiple workers forcibly suppress or assist the module's rotation using ropes. However, this method suffers from poor attitude adjustment accuracy and high safety risks. While some existing lifting devices can achieve rotation, they are usually integrated with specific lifting equipment, resulting in issues such as heavy weight, inconvenient assembly and disassembly, and poor compatibility with standard hooks and chains, making them difficult to rapidly promote in conventional lifting scenarios.

[0029] Please refer to the following: Figures 1 to 4 The rotating device 1 provided in the embodiments of this application will now be described. The rotating device 1 includes a first connecting member 10, a second connecting member 11, and a drive control module 12. The first connecting member 10 is used to connect to the hook 20. A first groove 1000 is provided on one side of the first connecting member 10 along the first direction X. The second connecting member 11 is rotatably connected to the side of the first connecting member 10 with the first groove 1000 about the axis of the rotating device 1. The second connecting member 11 is used to connect to the chain 21. The drive control module 12 is located on the first connecting member 10 and is at least partially located in the first groove 1000. The drive control module 12 is used to drive the second connecting member 11 to rotate. The straight line containing the first direction X is parallel to the axis of the rotating device 1.

[0030] The rotating device 1 provided in this application has a first connecting member 10 and a second connecting member 11 that can rotate relative to each other around the axis of the rotating device 1. The first connecting member 10 and the second connecting member 11 can be connected to the hook 20 and the chain 21 respectively, so that the rotating device 1 can be connected in series between the hook 20 and the chain 21 of the existing lifting device 2. By setting a drive control module 12, the second connecting member 11 can be driven to rotate relative to the first connecting member 10, and the angle of rotation is controllable. Therefore, the rotating device 1 of this application can realize the function of rotating the lifting device 2 at any angle to the target object without changing the structure of the existing lifting device 2, so that the rotating device 1 has strong versatility and reusability. Furthermore, by setting the drive control module 12 on the first connector 10, and at least partially within the first groove 1000 on the side of the first connector 10 facing the second connector 11, the first connector 10 can provide support and protection for the drive control module 12, which helps ensure that the drive control module 12 works normally in complex construction environments, and ensures that the drive control module 12 can be connected to the second connector 11 to drive the second connector 11 to rotate.

[0031] It is understandable that the straight line containing the first direction X is parallel to the axis of the rotating device 1, that is, the axis of rotation of the second connecting member 11 relative to the first connecting member 10, which is also the axis of rotation of the target object hoisted on the chain 21 connected to the rotating device 1 relative to the target coordinate system. The first direction X is also the height direction of the rotating device 1.

[0032] Optionally, the first groove 1000 can be a through groove or a blind groove, etc., and the specific selection can be made according to the actual situation. In this embodiment, no specific limitation is made.

[0033] Optionally, the drive control module 12 includes at least one or more of the following components: drive component 120, reducer 125, power supply 121, main control circuit board 122, communication unit 123, and sensors. The specific components can be selected according to the actual situation, and are not specifically limited in this embodiment.

[0034] Please refer to the following: Figure 4 and Figure 5 In some embodiments, the drive control module 12 includes a drive component 120, a power supply 121, a main control circuit board 122, a communication unit 123, a first angle sensor 124, a second angle sensor (not shown), and a reducer 125. The output shaft of the drive component 120 is connected to the input end of the reducer 125. The reducer 125 is located in the first groove 1000. The output end of the reducer 125 is connected to the second connector 11. The main control circuit board 122 is electrically connected to the drive component 120, the power supply 121, the communication unit 123, the first angle sensor 124, and the second angle sensor. The first angle sensor 124 is used to detect the yaw angle of the first connector 10 relative to the target coordinate system, and the second angle sensor is used to detect the rotation angle of the output shaft of the drive component 120.

[0035] The drive component 120 provides rotational power for the rotation of the second connector 11. Its output shaft is connected to the input end of the reducer 125, thereby driving the second connector 11 to rotate through the output end of the reducer 125. The reducer 125 converts the high speed of the drive component 120 into the low speed and high torque required by the second connector 11, ensuring the stability of the rotation of the second connector 11. The power supply 121 provides a stable power supply to all electrical components (drive component 120, communication unit 123, first angle sensor 124, second angle sensor, etc.). The main control circuit board 122, acting as the core controller, receives data from the first angle sensor 124 and the second angle sensor. The first angle sensor 124 detects the yaw angle of the first connector 10 relative to the target coordinate system in real time, providing the main control circuit board 122 with information on the yaw angle of the first connector 10 relative to the target coordinate system caused by factors such as lifting impact, gust disturbance, eccentric load of the lifting device, and asymmetrical center of gravity. The second angle sensor detects the rotation angle of the output shaft of the drive component 120 in real time. The main control circuit board 122, combined with the reduction ratio of the reducer 125, can calculate the rotation angle of the second connector 11 relative to the first connector 10. Combined with the yaw angle of the first connector 10, the actual rotation angle of the second connector 11 relative to the target coordinate system can be calculated. Based on this data and the preset control logic, the main control circuit board 122 can precisely control the operation of the drive component 120, thereby achieving precise adjustment of the actual rotation angle of the second connector 11, that is, achieving precise adjustment of the rotation angle of the target object lifted by the lifting device 2. The communication unit 123 is responsible for data interaction with external systems, enabling operators to remotely monitor the status of the rotating device 1 or send control commands to the rotating device 1. Through this integrated design, the drive control module 12 can achieve precise control of the rotation angle of the second connector 11 and provide real-time feedback on the operating status, significantly improving the intelligence level and operational reliability of the rotating device 1. Furthermore, since the drive control module 12 is integrated on the first connector 10, it simplifies the design of the electrical connection structure and facilitates the electrical connection between various electronic components.

[0036] Furthermore, the scheme employs a first angle sensor 124 to detect the yaw angle of the first connector 10 relative to the target coordinate system, and a second angle sensor to detect the rotation angle of the output shaft of the drive component 120 in real time. The main control circuit board 122 calculates the rotation angle of the second connector 11 relative to the first connector 10 by combining the reduction ratio of the reducer 125, and then calculates the actual rotation angle of the second connector 11 relative to the target coordinate system by combining the yaw angle of the first connector 10. Compared with the scheme of directly obtaining the actual rotation angle of the second connector 11 relative to the target coordinate system through an angle sensor (e.g., an IMU), the angle sensor of the latter scheme needs to be set on the second connector 11, i.e., on the moving part. However, in the scheme of this application, both the first angle sensor 124 and the second angle sensor are set on the first connector 10, i.e. on the non-moving part. This is beneficial to ensuring the safety and detection stability of the first angle sensor 124 and the second angle sensor, and also facilitates the integrated design of the drive control module 12, which helps to reduce the assembly difficulty of the rotating device 1 and simplify the design of the electrical connection structure.

[0037] Optionally, the drive component 120 may be a motor (such as a DC motor, AC motor, stepper motor or servo motor, etc.), hydraulic motor or pneumatic motor, etc., and the specific selection can be made according to the actual situation. In this embodiment, no specific limitation is made.

[0038] Optionally, the power source 121 can be a battery or a battery pack, etc., and can be selected according to the actual situation. In this embodiment, no specific limitation is made.

[0039] It is understandable that the main control circuit board 122 is a circuit board that integrates electronic components (such as microcontrollers, memory, interface circuits, etc.). Its function is to receive instructions, process data, send control signals, coordinate and manage the operation of components such as drive component 120, power supply 121, communication unit 123, first angle sensor 124, and second angle sensor, so as to realize intelligent control of the rotating device 1.

[0040] Optionally, the communication unit 123 can be a wireless communication unit, such as a Bluetooth communication unit, a Wi-Fi communication unit, or a cellular network communication unit, or a wired communication interface, such as an RS485 interface or an Ethernet interface. The specific choice can be made according to the actual situation, and no specific limitation is made in this embodiment.

[0041] Optionally, the reducer 125 can be a planetary gear reducer, a worm gear reducer, a harmonic reducer, or a cycloidal pinwheel reducer, etc. The specific type can be selected according to the actual situation, and no specific limitation is made in this embodiment.

[0042] Optionally, the first angle sensor 124 can be an IMU (Inertial Measurement Unit). Since the first angle sensor 124 is mounted on the first connector 10, the IMU can directly monitor the rotation angle of the first connector 10 relative to the target coordinate system in real time, and can also detect data such as the acceleration and angular velocity of the first connector 10 relative to the target coordinate system. Alternatively, the first angle sensor 124 can also be an electronic compass or a magnetometer, etc. The specific choice can be made according to the actual situation, and no specific limitation is made in this embodiment.

[0043] Optionally, the second angle sensor can be an encoder (such as an absolute encoder or an incremental encoder). The encoder can be set separately or integrated into the drive component 120. The second angle sensor can also be a Hall effect sensor or a potentiometer, etc. The specific selection can be made according to the actual situation, and no specific limitation is made in this embodiment.

[0044] In other embodiments, the second angle sensor may also directly detect the rotation angle of the second connector 11 relative to the first connector 10.

[0045] In some embodiments, the first connector 10 has a receiving groove 1010 communicating with the first groove 1000 on the side opposite to the second connector 11; the drive control module 12 also includes a housing 126, which is disposed in the receiving groove 1010, and the drive component 120, power supply 121, main control circuit board 122, communication unit 123, first angle sensor 124 and second angle sensor are all disposed in the housing 126.

[0046] By providing a receiving groove 1010 connected to the first recess 1000 on the side of the first connector 10 away from the second connector 11, and providing a housing 126 inside the receiving groove 1010, key electronic components such as the drive component 120, power supply 121, main control circuit board 122, communication unit 123, first angle sensor 124, and second angle sensor in the drive control module 12 are encapsulated inside the housing 126. The first connector 10 not only realizes the rotational connection between the hook 20 and the second connector 11, but also provides a protective installation space for the drive control module 12. The housing 126 and the first connector 10 together protect the electronic components and effectively isolate them from the external environment, further improving the safety of the electronic components in complex construction environments. Since the receiving groove 1010 is connected to the first recess 1000, the reducer 125 located in the first recess 1000 and the drive component 120 in the housing 126 can be interconnected to achieve mechanical transmission.

[0047] Optionally, the receiving groove 1010 and the first groove 1000 can be two separate grooves or they can be the same groove integrally formed. The specific choice can be made according to the actual situation, and no specific limitation is made in this embodiment.

[0048] Please refer to the following: Figure 6 and Figure 7 In some embodiments, the first connector 10 includes a second annular portion 100 and a mounting base 101. The second annular portion 100 supports the mounting base 101. The second connector 11 is rotatably connected to the second annular portion 100 about the axis of the rotating device 1. The second annular portion 100 has a first groove 1000. The mounting base 101 is provided with a receiving groove 1010 communicating with the first groove 1000 on the side opposite to the second connector 11. The drive control module 12 includes a housing 126, which is disposed in the receiving groove 1010. The mounting base 101 is used to connect the hook 20.

[0049] By providing a second annular portion 100 and a mounting base 101, the second annular portion 100 can support the mounting base 101 and be rotatably connected to the second connector 11. The internal space of the second annular portion 100 also forms a first groove 1000 for accommodating a portion of the drive control module 12 (i.e., the reducer 125). The mounting base 101 is used to connect with the hook 20. At the same time, the structure of the mounting base 101 is used to form a receiving groove 1010 to accommodate the housing 126 of the drive control module 12. The structure of the mounting base 101 is reused, which helps to simplify the structure of the rotating device 1.

[0050] In other embodiments, the first connector 10 may also be a block structure, with a first groove 1000 and a receiving groove 1010 provided on the block structure, and an ear plate provided on the top to achieve connection with the hook 20.

[0051] In some embodiments, the mounting base 101 has a mounting hole 1011 on its side wall for inserting a fastener to be detachably connected to the hook 20; the housing 126 has a second groove 1260 corresponding to the mounting hole 1011 to form a gap with the side wall where the mounting hole 1011 is located.

[0052] A mounting hole 1011 is provided on the side wall of the mounting base 101, and a fastener is used to achieve a detachable connection between the mounting base 101 and the hook 20. To avoid interference between the housing 126 of the drive control module 12 and the fastener when the mounting base 101 is connected to the hook 20, a second groove 1260 is provided on the housing 126 at the position corresponding to the mounting hole 1011. This creates a gap between the housing 126 and the side wall of the mounting base 101 where the mounting hole 1011 is located. This gap provides space for the fastener to be installed, ensuring that the fastener can pass through the mounting hole 1011 and fix the hook 20 to the side wall of the mounting base 101. Furthermore, the fastener will not be obstructed by the housing 126 when it is necessary to disassemble it.

[0053] Optionally, the fastener can be a standard shackle, and the mounting hole 1011 can be a through hole. Alternatively, the fastener can be a bolt, and the mounting hole 1011 can be a threaded hole. The specific choice can be made according to the actual situation, and no specific limitation is made in this embodiment.

[0054] In some embodiments, the first connector 10 further includes a plurality of reinforcing ribs 102, each reinforcing rib 102 being connected to the second annular portion 100 and the mounting base 101 respectively, and the plurality of reinforcing ribs 102 being evenly spaced around the axis of the rotating device 1.

[0055] By providing multiple reinforcing ribs 102 respectively connected to the second annular portion 100 and the mounting base 101, when the first connecting member 10 bears the load from the second connecting member 11, the reinforcing ribs 102 can effectively distribute and transfer the load borne by the second annular portion 100 to the mounting base 101, thereby enhancing the connection strength and rigidity between the mounting base 101 and the second annular portion 100. Simultaneously, the multiple reinforcing ribs 102 are evenly spaced around the axis of the rotating device 1, ensuring that the reinforcing ribs 102 provide balanced support and reinforcement in all directions of the first connecting member 10, avoiding localized stress concentration, and improving the overall load-bearing capacity and deformation resistance of the first connecting member 10.

[0056] Optionally, the number of reinforcing ribs 102 can be three, four, five, or six, etc., to ensure sufficient support in all directions. The specific number can be selected according to the actual situation, and no specific limitation is made in this embodiment. The multiple reinforcing ribs 102 are evenly spaced around the axis of the rotating device 1, which means that the angles between the multiple reinforcing ribs 102 are equal. For example, when there are four reinforcing ribs 102, the four reinforcing ribs 102 can be arranged at 90° intervals, and when there are six reinforcing ribs 102, the six reinforcing ribs 102 can be arranged at 60° intervals.

[0057] Understandably, please refer to the following as well. Figure 8 and Figure 9The second connector 11 can refer to the structural design of the first connector 10, and will not be described again in this embodiment.

[0058] Please refer to the following: Figure 4 and Figure 10 In some embodiments, the rotating device 1 further includes a support member 13, which includes a first annular portion 130 and an extension portion 131. The first annular portion 130 is connected to the side of the first connector 10 facing the second connector 11. The extension portion 131 extends inward from the inner wall of the first annular portion 130 and is disposed near the side of the first annular portion 130 away from the first connector 10. The extension portion 131 supports the reducer 125.

[0059] By setting the support member 13, the first annular portion 130 is connected to the first connector 10, and its internal space together with the first groove 1000 forms a space to accommodate the reducer 125. The extension portion 131 extends inward from the inner wall of the first annular portion 130 and is set close to the side of the first annular portion 130 away from the first connector 10, so that it can directly contact the reducer 125, thereby providing direct and stable support for the reducer 125, avoiding possible displacement, vibration or shaking of the reducer 125 during operation, and ensuring that the rotation of the output shaft of the drive component 120 can be accurately transmitted to the second connector 11, thereby ensuring the smooth and accurate operation of the entire rotating device 1.

[0060] Please refer to the following: Figure 1 and Figure 4 In some embodiments, the rotating device 1 further includes a slewing bearing 14, which includes an outer ring 140, an inner ring 141, and a rolling element 142. The outer ring 140 is rotatably fitted onto the inner ring 141, and the rolling element 142 is tactilely connected to the outer ring 140 and the inner ring 141. The outer ring 140 supports the first connecting member 10, and the inner ring 141 is connected to the second connecting member 11.

[0061] By setting the slewing bearing 14, the rotational connection between the first connecting member 10 and the second connecting member 11 can be optimized. Specifically, the outer ring 140 of the slewing bearing 14 supports the first connecting member 10, the inner ring 141 is connected to the second connecting member 11, the outer ring 140 is rotatably fitted onto the inner ring 141, and the rolling element 142 is rolled between the outer ring 140 and the inner ring 141. When the drive control module 12 drives the second connecting member 11 to rotate, since the second connecting member 11 is connected to the inner ring 141 of the slewing bearing 14, the second connecting member 11 will drive the inner ring 141 to rotate around the axis of the rotating device 1. At this time, the slewing bearing... The rolling element 142 of 14 rolls between the outer ring 140 and the inner ring 141, transferring the load from the chain 21 borne by the second connector 11 to the outer ring 140 through the inner ring 141 and the rolling element 142, and then from the outer ring 140 to the first connector 10, thereby achieving effective load transfer and distribution. Furthermore, the relative rotation between the first connector 10 and the second connector 11 is achieved through the low-friction rolling of the rolling element, which can reduce rotational resistance and provide good load-bearing capacity and rotational stability.

[0062] It is understandable that the outer ring 140 refers to the outer annular component of the slewing bearing 14, and the inner ring 141 refers to the inner annular component of the slewing bearing 14.

[0063] Optionally, the rolling element 142 can be a ball, cylindrical roller, or tapered roller, etc., and can be selected according to the actual situation. In this embodiment, no specific limitation is made.

[0064] It is understandable that the first connector 10 and the outer ring 140, as well as the second connector 11 and the inner ring 141, can be connected by multiple fasteners spaced apart.

[0065] Please see Figure 11 This application also provides a lifting device 2, which includes a hook 20, a chain 21 and a rotating device 1 as described in the above embodiments. A first connecting member 10 is connected to the hook 20, and a second connecting member 11 is connected to the chain 21. The chain 21 is used to lift the target object.

[0066] The lifting device 2 provided in this application adopts the rotating device 1 described in the above embodiments, which enables the lifting device 2 to achieve the function of rotating the target object at any angle. The first connecting member 10 of the rotating device 1 can play a role in bearing and protecting the drive control module 12, which is conducive to ensuring that the drive control module 12 works normally in complex construction environments, thereby facilitating the stable operation of the rotation function of the lifting device 2.

[0067] Optionally, the lifting device 2 can be applied to equipment such as cranes and hoists, and the specific choice can be made according to the actual situation. In this embodiment, no specific limitation is made.

[0068] Optionally, the number of hanging chains 21 can be one or more (e.g., two, three or four, etc.), which can be selected according to the actual situation, and is not specifically limited in this embodiment.

[0069] In some embodiments, the lifting device 2 further includes a fastener 22, and the mounting base 101 of the rotating device 1 has a mounting hole 1011 on its side wall. The fastener 22 passes through the mounting hole 1011 to be detachably connected to the hook 20.

[0070] By setting fastener 22, the fastener 22 can pass through the mounting hole 1011 provided on the side wall of the mounting base 101, so as to realize the detachable connection between the mounting base 101 and the hook 20.

[0071] Optionally, the fastener 22 can be a standard shackle, and the mounting hole 1011 can be a through hole. Alternatively, the fastener can also be a bolt, and the mounting hole 1011 can be a threaded hole. The specific choice can be made according to the actual situation, and no specific limitation is made in this embodiment.

[0072] In some embodiments, the lifting device 2 further includes a remote controller, a mobile terminal, or a host computer for sending control commands to the rotating device 1. The remote controller, mobile terminal, or host computer establishes a communication connection with the communication unit 123 of the rotating device 1 via a wireless router or wireless access point, and transmits data using User Datagram Protocol (UDP) broadcast, UDP unicast, or UDP multicast methods.

[0073] In some embodiments, the communication unit 123 includes a Wi-Fi module. The Wi-Fi module establishes a communication connection with the main control circuit board 122 via an RS485 serial port. It is used to receive at least one of the following data sent by the main control circuit board 122: the status of the driving component, position, speed, current, power supply voltage, and sensor status. The Wi-Fi module then sends this data to an external wireless router or wireless access point via UDP broadcast, UDP unicast, or UDP multicast. The external wireless router or access point then forwards the data to a remote control, mobile terminal, or host computer. User-input control commands are sent to an external wireless router or wireless access point via the remote control, mobile terminal, or host computer. The external wireless router or access point then forwards the commands to the Wi-Fi module. The Wi-Fi module sends the control commands to the main control circuit board 122 via an RS485 serial port. The main control circuit board 122 controls the operation of the driving component 120 based on the control commands. In some embodiments, the first angle sensor 124 is an IMU. The IMU outputs the yaw angle, angular velocity and / or acceleration data of the first connector 10 relative to the target coordinate system to the main control circuit board 122 via a serial port. Based on the yaw angle, angular velocity and / or acceleration data, and the output shaft rotation angle data collected by the second angle sensor, the main control circuit board 122 performs closed-loop calculation of the actual rotation parameters of the target object.

[0074] This application also provides a control method for a rotating device 1 used in hoisting operations. Based on a first control command input by the user, the rotating device 1 controls the drive control module 12 to drive the second connecting member 11 to rotate, thereby rotating the target object. It acquires the actual rotation parameters of the target object and controls the drive control module 12 to rotate according to the deviation between the actual rotation parameters and the target rotation parameters. Through this method, the rotating device 1 can achieve closed-loop rotation control of the hook during hoisting, automatically correcting rotation deviations, thereby achieving precise adjustment of the actual rotation angle of the second connecting member 11, that is, achieving precise adjustment of the rotation angle of the target object hoisted by the lifting device 2. This solves the problem of poor accuracy in existing manual traction methods and improves the accuracy, real-time response, and safety of lifting device rotation adjustment.

[0075] Furthermore, by setting the rotating device 1 as an independent and detachable module connected between the hook and the chain, the device can be quickly connected or removed without changing the existing lifting device structure, thereby realizing active rotation control of various types of lifting devices. This solves the problems of heavy weight, inconvenient disassembly and assembly, and poor compatibility of existing integrated rotating lifting devices, and significantly improves the flexibility and applicability of lifting operations.

[0076] Figure 12 This is a flowchart illustrating the control method for the rotating device provided in the embodiments of this application. Figure 1It should be understood that the execution subject of the control method in this application embodiment is the rotating device 1 or a module or chip in the rotating device 1. For example, the execution subject can be the drive control module 12, the main control circuit board 122, etc. Taking the main control circuit board 122 as an example, as follows... Figure 12 As shown, the control method includes the following steps: S101, based on the first control command input by the user, the control module 12 drives the second connector 11 to rotate, so as to drive the target object suspended on the chain to rotate.

[0077] In some embodiments, the first control command is used to indicate the target rotation parameters of the target object, the target rotation parameters including at least one of the target rotation angle, target rotation speed and target rotation direction.

[0078] In some embodiments, the target rotational speed may include at least one of the target angular velocity and the target angular acceleration.

[0079] In some embodiments, the user may be, for example, the operator of the lifting device. Exemplarily, the operator sends a first control command to the rotating device 1 via a remote control, mobile terminal, or host computer. The first control command is sent to the communication unit 123 of the rotating device 1 via an external wireless router or wireless access point, and transmitted to the main control circuit board 122 via an RS485 serial port. Correspondingly, after parsing the control command, the main control circuit board 122 outputs a corresponding drive command to the drive component 120, controlling the drive component 120 to operate according to at least one of the target rotation angle, target rotation speed, and target rotation direction. For example, when it is necessary to rotate the target object being lifted by 90 degrees, the operator can input "target rotation angle 90°, target rotation speed 5° / s, clockwise direction" via the remote control. After receiving and parsing the command, the rotating device 1, through the reducer 125, drives the second connecting member 11 to rotate, thereby causing the target object being lifted on the chain to rotate.

[0080] In this embodiment of the application, through the above method, the operator can remotely send rotation commands via remote control, mobile terminal or host computer without manual traction, thereby avoiding safety risks, and at the same time realizing remote controllable start and stop of rotation.

[0081] S102, obtain the actual rotation parameters of the target object relative to the target coordinate system.

[0082] In some embodiments, the target coordinate system is at least one of the world coordinate system, geodetic coordinate system, construction coordinate system, or lifting device base coordinate system.

[0083] In some embodiments, the actual rotation parameters include at least one of actual rotation angle, actual rotation speed, and actual rotation direction. The actual rotation speed can be at least one of actual angular velocity and actual angular acceleration. For example, taking the target coordinate system as the world coordinate system, the yaw angle of the upper connector relative to the world coordinate system can be obtained by the first angle sensor 124, and the output shaft rotation angle of the drive component 120 can be obtained by the second angle sensor. Then, the yaw angle and output shaft rotation angle are fused together to obtain the rotation angle and rotation direction of the target object being hoisted below relative to the world coordinate system, which are respectively used as the actual rotation angle and actual rotation direction. Further, the main control circuit board 122 can calculate the actual rotation speed based on the changes in the actual rotation angle at continuous sampling times. For example, if the current yaw angle of the first connector relative to the target coordinate system is 10°, and the relative rotation angle of the second connector 11 relative to the first connector 10 is 50° with a clockwise rotation direction, the current actual rotation angle is calculated to be 60° with a clockwise rotation direction based on the yaw angle and output shaft rotation angle. Meanwhile, based on the 50° of the previous sampling time, the current actual rotation speed is calculated to be 5° / s.

[0084] In the above manner, the main control circuit board 122 can acquire the actual rotation angle, rotation speed and rotation direction of the target object in the target coordinate system in real time, and perform fusion processing of multiple parameters to eliminate measurement errors caused by sling swing and upper connector deflection, thereby obtaining more realistic target object posture information and performing precise closed-loop control.

[0085] S103, based on the deviation between the actual rotation parameters and the target rotation parameters, control the drive control module 12 to drive the second connecting member 11 to rotate until the target object meets the target rotation parameters.

[0086] In some embodiments, the main control circuit board 122 can calculate the angular deviation between the target rotation angle and the actual rotation angle, and dynamically adjust the output torque and rotational speed of the drive component 120 according to the angular deviation and the target rotational speed through a control algorithm, thereby driving the second connecting member 11 to rotate in the target rotational direction at the target rotational speed. During this process, the main control circuit board 122 can continuously acquire the actual rotation angle during rotation and calculate the angular deviation, and repeatedly adjust the drive output based on the deviation until the actual rotation angle reaches the target rotation angle and the actual rotational direction is consistent with the target rotational direction. At this point, it is determined that the target object meets the target rotation parameters. For example, taking a target rotation angle of 90°, a target rotational speed of 5° / s, and a target direction of clockwise as an example, if the current actual rotation angle is 60°, the actual rotational direction is clockwise, and the angular deviation is 30°, the main control circuit board 122 can control the drive component 120 to rotate clockwise at a speed of 5° / s. When the actual rotation angle reaches 90°, the main control circuit board 122 stops the drive output, and the target object meets the target rotation parameters.

[0087] The above method enables closed-loop rotation control of the target object during hoisting. Compared with open-loop control or manual traction, this method can dynamically adjust the motor output according to the real-time deviation, so that the actual rotation angle and angular velocity accurately follow the target value, and automatically stop when the target angle is reached, thereby improving the accuracy, real-time response and safety of hoisting rotation adjustment.

[0088] Figure 13 This is a flowchart illustrating the control method for the rotating device provided in the embodiments of this application. Figure 2 It should be understood that the execution subject of the control method in this application embodiment is the rotating device 1 or a module or chip in the rotating device 1. For example, the execution subject can be the drive control module 12, the main control circuit board 122, etc. Taking the main control circuit board 122 as an example, as follows... Figure 13 As shown, the control method includes the following steps: S201, based on the first control command input by the user, the control module 12 drives the second connector 11 to rotate, so as to drive the target object suspended on the chain to rotate.

[0089] It should be noted that the implementation method of step S201 is the same as... Figure 12 Step S101 in the illustrated embodiment is similar and will not be described in detail here.

[0090] S202, obtain the actual rotation parameters of the target object relative to the target coordinate system.

[0091] In some embodiments, the actual rotation parameters include at least one of the actual rotation angle, actual rotation speed, and actual rotation direction. Obtaining the actual rotation angle of the target object relative to the target coordinate system includes the following steps S1-S5: S1, acquire the yaw angle of the first connector 10 relative to the target coordinate system collected by the first angle sensor 124.

[0092] In some embodiments, the main control circuit board 122 can acquire the yaw angle of the first connector 10 relative to the target coordinate system through the first angle sensor 124. The first angle sensor 124 is fixedly installed in the first connector 10, connected to the main control circuit board 122 through an independent serial port, and periodically outputs the yaw angle, angular velocity or other attitude data of the first connector 10 relative to the target coordinate system to the main control circuit board 122.

[0093] S2, acquire the output shaft rotation angle of the drive component 120 collected by the second angle sensor.

[0094] In some embodiments, a second angle sensor (such as a motor encoder, not shown) is used to detect the position and speed of the output shaft of the drive component 120. The main control circuit board 122 can obtain the rotation angle of the output shaft of the drive component 120 through the second angle sensor.

[0095] S3, obtain the reduction ratio of reducer 125 and the initial offset angle of the target object.

[0096] S4. Based on the output shaft rotation angle, reduction ratio and initial offset angle, determine the relative rotation angle of the first connector 10 and the second connector 11.

[0097] In some embodiments, the main control circuit board 122 can obtain the reduction ratio of the reducer 125 and the initial bias angle (i.e., initial bias) of the target object, and calculate the relative angle of the second connector 11 with respect to the first connector 10 based on the output shaft rotation angle, reduction ratio, initial bias angle, and rotation direction sign s, according to the following formula: Relative angle = ;in, For output shaft rotation angle, For the reduction ratio of the speed reducer, The symbol for the direction of rotation. This is the initial bias.

[0098] S5 calculates the actual rotation angle of the target object relative to the target coordinate system by fusing yaw angle and relative rotation angle.

[0099] Specifically, the actual rotation angle of the target object relative to the target coordinate system can be expressed as: ;in, This is the yaw angle.

[0100] In some embodiments, the main control circuit board 122 can also filter, zero-point calibrate, and offset compensate the data collected by the first angle sensor 124 and the second angle sensor. For example, the main control circuit board 122 reads the current yaw angle of the first connector through the first angle sensor 124. The angle is 10°, and the motor rotation angle is read by a second angle sensor. The angle is 3000°, the reduction ratio i is 60, the direction sign s is +1, and the initial offset is... If the value is 0°, then the actual rotation angle is calculated. The angle is 60°. Meanwhile, based on the 50° angle at the previous sampling time, the current actual rotational angular velocity is calculated to be 5° / s, with the direction being clockwise.

[0101] S203, based on the deviation between the actual rotation parameters and the target rotation parameters, control the drive control module 12 to drive the second connecting member 11 to rotate.

[0102] It should be noted that the implementation method of step S203 is the same as... Figure 12 Step S103 in the illustrated embodiment is similar and will not be described again here.

[0103] S204, Detect the status of rotating device 1 and determine whether rotating device 1 is malfunctioning.

[0104] Specifically, during the rotation of the drive control module 12, the status of the rotating device 1 is monitored in real time to determine whether any abnormality has occurred.

[0105] In some embodiments, the rotating device 1 malfunctions, including at least one of the following: Case 1: The feedback current of the drive component 120 exceeds the current threshold.

[0106] In some embodiments, the main control circuit board 122 acquires the feedback current of the drive component 120 in real time, and a current threshold is preset in the main control circuit board 122. When the main control circuit board 122 detects that the feedback current continuously exceeds the current threshold, it determines that an abnormality has occurred. This current threshold can be preset based on the motor's rated current, stall current, and safety factor. For example, if the rated current of the drive component 120 is 10A, the current threshold is set to 15A. When the feedback current rises to 16A due to excessive motor load and remains so for 0.2 seconds, the main control circuit board 122 determines that an abnormality has occurred.

[0107] In this embodiment of the application, a duration threshold can be set for overcurrent detection to reduce false triggering caused by instantaneous current spikes.

[0108] Case 2: The difference between the output equivalent torque of reducer 125 and the safe torque threshold is less than or equal to the preset value.

[0109] In some embodiments, the main control circuit board uses the motor feedback current... Motor torque constant Determine the output torque of the drive component The specific calculation method is as follows:

[0110] Furthermore, based on the output torque of the drive component Reducer reduction ratio and transmission efficiency Estimate the equivalent output torque of the reducer using the following formula. : ,in, The output torque of the drive component .

[0111] In some embodiments, a safe torque threshold is preset in the main control circuit board. The main control circuit board calculates and outputs the equivalent torque. The difference between the output torque and the safe torque threshold. When the difference is less than or equal to a preset value (e.g., 5% of the safe torque threshold or a fixed torque difference), it indicates that the output torque is approaching the safe upper limit, and is judged as an abnormal trend. Optionally, this safe torque threshold is preset based on the frictional capacity between the hook and the connecting ring, the connecting ring material, the contact state, historical operating data, and a safety factor, or calibrated through controlled testing. For example, the safe torque threshold is 1000 N·m, and the preset value is 50 N·m. When the output equivalent torque reaches 955 N·m, the difference is less than the preset value of 50 N·m, and the main control circuit board 122 determines that the rotating device is approaching an abnormal state.

[0112] In some embodiments, when the device is used for the first time, when the hook is replaced, when the connecting ring is replaced, or when it is put back into use after maintenance, the safety factor can be determined based on at least one of the following: the mass of the target object being lifted, the length of the lifting chain, the wind speed in the construction environment, and the contact state between the hook and the connecting ring. Specifically, the main control circuit board 122 can gradually increase the output of the drive component 120 and simultaneously collect the yaw angle change of the first angle sensor 124, the angle response of the second angle sensor, and the feedback current. When the first angle sensor 124 detects a significant increase in the yaw angle change of the first connector, or when the change in the output shaft rotation angle is inconsistent with the expected response, the corresponding torque is used as the interface slip critical torque and multiplied by a safety factor less than 1 to obtain a safe torque threshold.

[0113] In a preferred embodiment, the main control circuit board 122 updates the safe torque threshold based on feedback current collected during multiple hoisting tasks, changes in the yaw angle of the first angle sensor 124, and the angle response of the second angle sensor. When a decrease in interface friction capability or a recurring slippage trend is detected, the main control circuit board 122 lowers the safe torque threshold and sends a maintenance prompt via the communication unit 123. If the updated safe torque threshold is lower than a preset lower limit, the main control circuit board 122 can prevent the rotating device 1 from performing active rotation operation and output maintenance alarm information.

[0114] Case 3: The output equivalent torque of reducer 125 is greater than or equal to the preset safe torque threshold.

[0115] Referring to scenario 2, when the main control circuit board 122 estimates the output equivalent torque to be greater than or equal to the safe torque threshold, it is determined to be abnormal. This indicates that the interface friction capability is insufficient to provide the currently required counter-torque, and slippage of the upper connection interface may have occurred. For example, if the safe torque threshold is 1000 N·m, when the output equivalent torque reaches or exceeds 1000 N·m, slippage of the upper connection interface may have occurred, and the main control circuit board 122 will immediately determine that an abnormality has occurred.

[0116] Case 4: The change in yaw angle of the first connecting piece 10 relative to the target coordinate system, or the deviation of the yaw angle from the reference yaw angle, is greater than or equal to the yaw angle threshold.

[0117] In some embodiments, the main control circuit board 122 has a preset yaw angle threshold. When the first angle sensor 124 detects a change in the yaw angle of the first connector, or a deviation of the yaw angle from the reference yaw angle, that is greater than or equal to the yaw angle threshold, it can be determined that relative slippage has occurred between the hook 20 and the connecting ring. The main control circuit board 122 can also jointly judge the yaw angle change collected by the first angle sensor 124 with the angle change and feedback current change collected by the second angle sensor to reduce false judgments caused by noise from a single sensor. For example, the yaw angle threshold is set to 5°. When the first angle sensor 124 detects that the yaw angle of the upper connector changes from 10° to 16° within 1 second, and the change is 6° ≥ 5°, the main control circuit board 122 determines that an interface slippage abnormality has occurred.

[0118] In this embodiment of the disclosure, for slip recognition, a duration threshold, a hysteresis interval, or a multi-condition joint triggering rule can be set to reduce false triggering caused by instantaneous impact.

[0119] Case 5: The deviation between the actual rotation parameters and the target rotation parameters is greater than or equal to the deviation threshold.

[0120] In some embodiments, the main control circuit board 122 is preset with an angle deviation threshold and / or an angular velocity deviation threshold. Specifically, the main control circuit board 122 calculates the angle deviation between the target rotation angle and the actual rotation angle, and the angular velocity deviation between the target rotation angular velocity and the actual rotation angular velocity. When the angle deviation is continuously greater than or equal to the angle deviation threshold, or the angular velocity deviation is continuously greater than or equal to the angular velocity deviation threshold, it indicates that the system cannot follow the target command, and there may be abnormalities such as external disturbances, drive stall, or interface slippage. For example, the angle deviation threshold is set to 10°. If the target rotation angle is 90°, and the actual rotation angle remains within the range of 75°±1° for 2 seconds, the angle deviation is 15°, which is greater than the angle deviation threshold, and the main control circuit board 122 determines that an abnormality has occurred.

[0121] In some embodiments, a duration threshold can be set for the deviation, such as triggering an anomaly only if the deviation lasts for more than 0.5 seconds, in order to avoid misjudgment caused by transient disturbances.

[0122] Case 6: The actual rotational angular velocity and / or the actual rotational angular acceleration are greater than or equal to the velocity threshold.

[0123] In some embodiments, the main control circuit board 122 is preset with angular velocity thresholds and / or angular acceleration thresholds. Specifically, the main control circuit board 122 calculates the actual rotational angular velocity based on the actual rotational angle changes at continuous sampling times, and can further calculate the actual rotational angular acceleration. When the actual rotational angular velocity is greater than or equal to the angular velocity threshold, or the actual rotational angular acceleration is greater than or equal to the angular acceleration threshold, it indicates that the hoisting target object is undergoing abnormal rotation (such as sudden acceleration or falling rotation), and is determined to be abnormal. For example, the angular velocity threshold is set to 10° / s, and the normal rotational speed is 5° / s. When the actual rotational angular velocity suddenly rises to 12° / s after fusing the angles collected by the first angle sensor 124 and the second angle sensor, the main control circuit board 122 determines that abnormal rotation has occurred. Alternatively, the angular acceleration threshold is set to 3° / s², and when the actual rotational angular acceleration reaches 4° / s², it is also determined to be abnormal.

[0124] In this embodiment of the application, for the judgment of abnormal angular velocity, a duration threshold or a multi-condition joint triggering rule can be set to reduce false triggering caused by instantaneous noise and short-term impact.

[0125] Case 7: The communication interruption duration of communication unit 123 is longer than the preset duration.

[0126] In some embodiments, the communication unit 123 establishes a bidirectional communication link with the main control circuit board 122 via an RS485 serial port and receives control commands from a remote control, mobile terminal, or host computer. Specifically, the main control circuit board 122 has a preset communication interruption duration threshold. The main control circuit board 122 can determine the communication status by monitoring the heartbeat signal between itself and the communication unit 123 or by periodically receiving the timestamps of control commands. When the continuous period without receiving a valid communication signal exceeds the duration threshold, a communication anomaly is determined. For example, the communication interruption duration threshold is set to 3 seconds. When the interruption time of the communication unit 123 exceeds 3 seconds, and the main control circuit board 122 fails to receive any control commands or heartbeat packets, a communication anomaly is determined to have occurred.

[0127] Case 8: The voltage of the power supply 121 of the rotating device 1 is less than or equal to the voltage threshold.

[0128] In some embodiments, the main control circuit board 122 has a preset voltage threshold (e.g., 80% of the rated voltage or set according to the device's minimum operating voltage). Specifically, the main control circuit board 122 can monitor the voltage value of the power supply 121 in real time through a voltage detection circuit. When the detected voltage of the power supply 121 is less than or equal to the voltage threshold, the power supply 121 is determined to be abnormal.

[0129] In this embodiment, low voltage may lead to insufficient motor output torque, unstable operation of the control system, or unexpected power failure. By judging the voltage anomaly, the safety and reliability of the system can be improved.

[0130] Case 9: Abnormal data acquired by the first angle sensor 124 and / or the second angle sensor.

[0131] In some embodiments, the main control circuit board 122 can be connected to the first angle sensor 124 via an independent serial port and to the second angle sensor via a motor driver to periodically read sensor data.

[0132] In some embodiments, the methods for determining sensor data anomalies include, but are not limited to, one or more of the following: Data outside reasonable range: For example, the yaw angle output by the first angle sensor 124 exceeds the preset range, or the rotation angle output by the second angle sensor is negative or exceeds the maximum stroke range of the motor.

[0133] Constant data: If the encoder reading remains unchanged for a long time while the motor is running, it indicates that the encoder may be malfunctioning or communication may be interrupted.

[0134] Excessive data jump: The change in sensor data between adjacent sampling times exceeds the preset reasonable change rate threshold. For example, the yaw angle of the first angle sensor 124 jumps by 30° within 10ms.

[0135] Sensor self-test failure: The main control circuit board 122 periodically sends a self-test command to the sensor. If the sensor returns an error status code or fails to respond within a timeout period, the sensor is determined to be malfunctioning. For example, The main control circuit board 122 continuously reads the data collected by the second angle sensor. If the reading of the second angle sensor remains unchanged for one second while the drive component 120 is rotating, the main control circuit board 122 determines that the data of the second angle sensor is abnormal. Similarly, if the yaw angle output by the first angle sensor 124 suddenly jumps from 60° to 150°, with the change far exceeding the normal rate of change threshold, the main control circuit board 122 determines that the data of the first angle sensor 124 is abnormal.

[0136] S205, if it is determined that the rotating device 1 has malfunctioned, output a second control command and / or alarm information.

[0137] In some embodiments, the second control command is used to control the drive component 120 to perform one or more of the following: reduce angular velocity, reduce input current, enter a brake holding state, or output alarm information to the user. In any of the above cases, multiple control operations can be performed in combination; for example, while controlling the drive component 120 to reduce angular velocity, an alarm message can be output to the user.

[0138] In some embodiments, different abnormal situations correspond to different second control commands. The following description refers to the nine situations in step S204: Regarding situation 1 above, when the main control circuit board 122 detects that the motor feedback current continuously exceeds the current threshold, it indicates that the motor may be at risk of overload, stall, or short circuit. Optionally, the main control circuit board 122 can control the drive component 120 to reduce the input current and simultaneously reduce the target angular velocity. If the current continues to rise, the drive component 120 is further controlled to enter a braking holding state, and an alarm message is sent to the host computer or remote controller via the communication unit 123.

[0139] Regarding situation 2 above, when the equivalent output torque approaches the safe torque threshold, it indicates that the current torque is close to the upper limit of the interface friction capability, and further increasing the torque may cause slippage. Optionally, the main control circuit board 122 can output a control to the drive component 120 to reduce the target angular velocity and limit the further increase of the output current, while simultaneously outputting a "torque approaching the upper limit" warning message to the user to alert the operator.

[0140] Regarding situation 3 above, when the output equivalent torque of the reducer 125 is greater than or equal to the safe torque threshold, it indicates that the interface friction capability is insufficient to provide the required counter torque, and the upper connection interface may have slipped. Optionally, the main control circuit board 122 can immediately stop the drive output, control the drive component 120 to enter the brake holding state, and simultaneously output alarm information to the user.

[0141] Regarding situation 4 above, when the change in yaw angle of the first connecting member 10 relative to the target coordinate system, or the deviation of the yaw angle relative to the reference yaw angle, is greater than or equal to the yaw angle threshold, it indicates that relative slippage may occur between the hook and the standard connecting ring. Optionally, the main control circuit board 122 can stop the drive output, control the drive component 120 to enter the brake holding state, and simultaneously output an "interface slippage" alarm message to the user. In some embodiments, the main control circuit board 122 can also jointly determine whether to stop the drive after considering the yaw angle change of the first angle sensor 124, the angle change of the second angle sensor, and the feedback current.

[0142] Regarding situation 5 above, when the deviation between the actual rotation parameters and the target rotation parameters is greater than or equal to the deviation threshold, it indicates that the system cannot follow the target command, and there may be external disturbances, drive stall, or interface slippage. Optionally, the main control circuit board 122 can select a processing method according to the degree of deviation: when the deviation is small, reduce the angular velocity and increase the drive torque to correct the deviation; when the deviation is large or continues to increase, stop the drive and enter the braking holding state, while outputting an alarm message. For example, if the angle deviation threshold is set to 10°, the target angle is 90°, and the actual angle remains at 75° for 2 seconds (deviation 15°), the main control circuit board 122 first attempts to increase the motor output torque to correct the deviation, but if the deviation does not decrease, it determines that there is a stall or slippage, immediately stops the drive, controls the brake motor to enter the braking holding state, and sends an alarm message "Angle tracking failed, braking has been completed".

[0143] Regarding situation 6 above, when the actual rotational angular velocity and / or actual rotational angular acceleration is greater than or equal to the velocity threshold, it indicates that the hoisted target object is rotating abnormally (such as uncontrolled acceleration or falling rotation). Optionally, the main control circuit board 122 can immediately stop the drive output, control the drive component 120 to enter the brake holding state, and simultaneously output an "abnormal rotational speed" alarm message to the user. For example, the angular velocity threshold is set to 10° / s, and the normal rotational speed is 5° / s. When the main control circuit board 122 detects that the actual rotational angular velocity suddenly rises to 12° / s, it immediately stops the drive, controls the brake motor to enter the brake holding state, and sends an "Abnormal: Rotational speed exceeds limit, emergency braking has been initiated" alarm.

[0144] Regarding situation 7 above, when the communication interruption duration of communication unit 123 exceeds the preset duration, the device cannot receive external control commands and is at risk of losing control. Optionally, the main control circuit board 122 can stop the active drive output, control the drive component 120 to enter the braking holding state, and attempt to re-establish the connection through communication unit 123 or send a "communication interrupted, braking" alarm message.

[0145] Regarding situation 8 above, when the voltage of the power supply 121 of the rotating device 1 is less than or equal to the voltage threshold, it indicates that the power supply 121 is insufficient or the power supply is abnormal, which may lead to insufficient motor output torque or unstable operation of the control system. Optionally, the main control circuit board 122 can handle the voltage drop in stages: when the voltage drops slightly, the target angular velocity and output current limit are reduced; when the voltage drops severely, the drive component 120 is controlled to enter the braking holding state, and a "low voltage alarm" message is output to the user.

[0146] Regarding situation 9 above, when the data collected by the first angle sensor 124 and / or the second angle sensor is abnormal, the system cannot obtain accurate actual rotation parameters. Optionally, the main control circuit board 122 can stop the active drive output, control the drive component 120 to enter the brake holding state, and output a "sensor fault" alarm message to the user, prompting the operator to check the sensor and connection lines.

[0147] In this embodiment, differentiated control strategies, such as reducing angular velocity, reducing input current, entering braking and holding state, or outputting alarm information, can be adopted according to different types and severity of abnormal situations. This solves the problems of existing solutions that are difficult to accurately identify complex working conditions and have a single abnormal handling method, significantly improving the safety and intelligence level of the control of the rotating device 1. Moreover, whether the abnormal rotation is caused by external disturbances or the risk of loss of control is caused by internal faults (slippage, communication interruption, power supply 121 abnormality, sensor failure), the corresponding protection mechanism can be accurately identified and triggered. When an abnormality occurs, alarm information is sent to the host computer, remote control, or mobile terminal, so that the operator can understand the type of abnormality in time and take corresponding measures, further reducing the risk of uncontrolled rotation of the hoisting module.

[0148] S206, when it is determined that the preset conditions are met, the drive unit 120 is controlled to decelerate and enter the brake holding state.

[0149] In some embodiments, satisfying a preset condition includes at least one of the following: 1. The target object satisfies the target rotation parameters.

[0150] Specifically, the main control circuit board 122 continuously monitors the actual rotation angle and the actual rotation direction. When the actual rotation angle reaches the target rotation angle and the actual rotation direction is consistent with the target rotation direction, it is determined that the target object meets the target rotation parameters. At this time, the main control circuit board 122 controls the drive component 120 to smoothly decelerate, avoiding impact and swaying caused by sudden stops. When the rotational angular velocity decreases to below a set threshold (e.g., 0.1° / s), the main control circuit board 122 controls the brake motor to enter the braking holding state, so that the second connecting member 11 maintains the current angle relative to the first connecting member 10. During this process, the control system continuously monitors the status, maintains the braking output, and prevents the target object from continuing to rotate due to inertia or drifting due to external interference.

[0151] For example, the main control circuit board 122 sets the target rotation angle to 90° and the target direction to clockwise. When the actual rotation angle reaches 90° and the direction is clockwise, the main control circuit board 122 controls the motor to decelerate smoothly at a deceleration rate of 2° / s². After the angular velocity drops below 0.1° / s, the brake motor is controlled to enter the braking holding state, and the target object is stably held at the 90° position.

[0152] 2. Receive the third control command input by the user. The third control command is used to instruct the rotating device 1 to stop rotating.

[0153] In some embodiments, the operator (i.e., the user) can send a stop command (third control command) via a remote control, mobile terminal, or host computer. After parsing the command, the main control circuit board immediately executes the stop control. Specifically, the main control circuit board 122 controls the drive component 120 to decelerate smoothly, avoiding sudden stops that could impact the hook, connecting ring, and the target object below. When the rotational angular velocity decreases below a set threshold, the main control circuit board 122 controls the brake motor to enter a brake holding state, maintaining the current angle of the second connecting member 11 relative to the first connecting member 10. For example, if the operator finds that a pause or adjustment is needed during rotation, they can press the "stop" button via the remote control. After receiving the stop command, the main control circuit board 122 controls the motor to decelerate smoothly at a rate of 3° / s². Once the angular velocity drops below 0.1° / s, the main control circuit board 122 controls the brake motor to enter a brake holding state, stably maintaining the target object at this intermediate angle position, facilitating the operator's inspection or readjustment of the command.

[0154] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in any of the above control method embodiments.

[0155] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium can include at least: an entity or device capable of storing computer program code and readable by a rotating device, main control circuit board, or control equipment; a recording medium; a computer memory; a read-only memory (ROM); a random access memory (RAM); and a software distribution medium. Examples include USB flash drives, portable hard drives, ROMs, RAMs, disks, or optical discs. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals. It should be noted that, within the permitted jurisdiction, computer-readable media may also include transmission media in the form of signals.

[0156] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0157] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0158] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0159] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0160] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

[0161] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0162] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0163] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0164] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0165] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for a rotating device used in hoisting operations, characterized in that, The rotating device includes a first connector, a second connector, and a drive control module; the first connector is used to connect to a hook, the second connector is rotatably connected to the first connector about the axis of the rotating device, the second connector is used to connect to a lifting chain, and the drive control module is located on the first connector and is used to drive the second connector to rotate; The control method includes: Based on the first control command input by the user, the drive control module is controlled to drive the second connector to rotate, thereby causing the target object suspended on the chain to rotate; the first control command is used to indicate the target rotation parameters of the target object, and the target rotation parameters include at least one of the target rotation angle, target rotation speed and target rotation direction; Obtain the actual rotation parameters of the target object relative to the target coordinate system, wherein the actual rotation parameters include at least one of the actual rotation angle, actual rotation speed, and actual rotation direction; Based on the deviation between the actual rotation parameters and the target rotation parameters, the drive control module is controlled to drive the second connector to rotate until the target object meets the target rotation parameters.

2. The method as described in claim 1, characterized in that, The drive control module includes a drive component, a first angle sensor, a second angle sensor, and a reducer; the output end of the drive component is connected to the input end of the reducer, and the output end of the reducer is connected to the second connector; the first angle sensor is used to detect the yaw angle of the first connector relative to the target coordinate system, and the second angle sensor is used to detect the rotation angle of the output shaft of the drive component; The step of obtaining the actual rotation parameters of the target object relative to the target coordinate system includes: Obtain the yaw angle of the first connector relative to the target coordinate system, as collected by the first angle sensor; The output shaft rotation angle of the drive component is acquired by the second angle sensor; Obtain the reduction ratio of the reducer and the initial offset angle of the target object; The relative rotation angle between the first connector and the second connector is determined based on the output shaft rotation angle, the reduction ratio, and the initial offset angle. The actual rotation angle of the target object relative to the target coordinate system is obtained by performing a fusion calculation based on the yaw angle and the relative rotation angle.

3. The method as described in claim 2, characterized in that, Also includes: The status of the rotating device is detected, and it is determined whether the rotating device is malfunctioning. If a malfunction is detected in the rotating device, a second control command and / or alarm information are output; wherein, the second control command is used to control the drive component to reduce its angular velocity, reduce its input current, or enter a braking holding state, and the alarm information is used to alert the user that a malfunction has occurred in the rotating device. The malfunction of the rotating device includes at least one of the following situations: The feedback current of the driving component exceeds the current threshold. The difference between the output equivalent torque of the reducer and the preset safe torque threshold is less than or equal to a preset value; The output equivalent torque of the reducer is greater than or equal to the safe torque threshold. The change in yaw angle of the first connector relative to the target coordinate system or the deviation of the yaw angle relative to the reference yaw angle is greater than or equal to the yaw angle threshold. The deviation between the actual rotation parameters and the target rotation parameters is greater than or equal to the deviation threshold. The actual rotational angular velocity and / or the actual rotational angular acceleration are greater than or equal to the velocity threshold. The communication interruption duration of the communication unit of the rotating device is longer than the preset duration; The power supply voltage of the rotating device is less than or equal to a voltage threshold. The data collected by the first angle sensor and / or the second angle sensor is abnormal.

4. The method as described in claim 3, characterized in that, Also includes: Obtain the actual operating current of the drive component; The output torque of the drive component is determined based on the actual operating current and the torque constant of the drive component. The equivalent output torque of the reducer is determined based on the output torque, the reduction ratio of the reducer, and the transmission efficiency of the reducer.

5. A rotating device, characterized in that, include: A first connector is used to connect a hook, and a first groove is provided on one side along a first direction. A second connector, rotatably connected to the side of the first connector with the first groove about the axis of the rotating device, is used to connect a hanging chain; and... A drive control module is disposed on the first connector and at least partially located within the first groove, the drive control module being used to drive the second connector to rotate; Wherein, the straight line containing the first direction is parallel to the axis of the rotating device.

6. The rotating device as described in claim 5, characterized in that, The drive control module includes a drive component, a power supply, a main control circuit board, a communication unit, a first angle sensor, a second angle sensor, and a reducer. The output shaft of the drive component is connected to the input end of the reducer. The reducer is located in the first groove, and the output end of the reducer is connected to the second connector. The main control circuit board is electrically connected to the drive component, the power supply, the communication unit, the first angle sensor, and the second angle sensor. The first angle sensor is used to detect the yaw angle of the first connector relative to the target coordinate system, and the second angle sensor is used to detect the rotation angle of the output shaft of the drive component.

7. The rotating device as claimed in claim 6, characterized in that, The first connector has a receiving groove communicating with the first groove on the side opposite to the second connector; The drive control module also includes a housing, which is disposed in the receiving slot. The drive component, the power supply, the main control circuit board, the communication unit, the first angle sensor and the second angle sensor are all disposed inside the housing.

8. The rotating device as claimed in claim 6, characterized in that, The rotating device further includes a support member, which includes a first annular portion and an extension portion. The first annular portion is connected to the side of the first connector facing the second connector. The extension portion extends inward from the inner wall of the first annular portion and is disposed near the side of the first annular portion away from the first connector. The extension portion supports the reducer.

9. The rotating device as claimed in claim 5, characterized in that, The first connector includes a second annular portion and a mounting base. The second annular portion supports the mounting base. The second connector is rotatably connected to the second annular portion about the axis of the rotating device. The second annular portion has the first groove. The mounting base has a receiving groove communicating with the first groove on the side opposite to the second connector. The drive control module includes a housing. The housing is disposed in the receiving groove. The mounting base is used to connect the hook.

10. The rotating device as claimed in claim 9, characterized in that, The mounting base has mounting holes on its side wall for inserting fasteners to be detachably connected to the hook. The housing has a second groove corresponding to the mounting hole, so as to form a gap between the groove and the side wall where the mounting hole is located.

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