A control system for a large annular variable-diameter hanging basket

Abstract

The present invention discloses a control system for a large-scale annular variable-diameter hanging basket. In this system: an operation module is used to provide operation instructions during the operation of the hanging basket; a control module is used to convert the operation instructions received from the operation module into corresponding electrical signals and transmit them to an action module after receiving the operation instructions; the action module is used to control the motor in the action module to execute instructions through forward and reverse operation according to the electrical signals sent by the control module, thereby changing the state of the hanging basket; a collection module includes a variety of sensors and is used to collect various state data of the hanging basket through various sensors and input them to the control module as feedback data for closed-loop control of the operation instructions; a display module is used to display the working state of the hanging basket and the feedback data of the closed-loop control of the operation instructions; a warning module is used to output the fault information during the operation of the hanging basket through the warning module. The present invention can automatically level the hanging basket during operation, reduce the operation difficulty, and improve the operation efficiency.

Description

Technical Field

[0001] The present invention relates to the field of construction machinery, and particularly to a control system for a large annular variable-diameter hanging basket. Background Art

[0002] A large annular hanging basket has multiple suspensions, a large span, and relatively weak structures. Its structural system can be understood as a hyperstatic continuous beam system, so strict requirements are imposed on the height difference control of each suspension point. Conventional hanging baskets have two suspension points, and their control systems usually use inclination sensors to level the hanging baskets. Since the structures of the hanging baskets controlled by conventional control systems are simple, their control systems are also relatively simple and primitive, and are not applicable to the large annular hanging basket targeted by the present invention. In view of this situation, the present invention proposes a new control system for the hanging basket. Summary of the Invention

[0003] The object of the present invention is to provide a control system that can be used for the operation control of a large annular hanging basket to fill the gap in the current control system of large annular hanging baskets. It can realize the real-time leveling of the large annular hanging basket during operation, improve the operation speed, and avoid safety accidents caused by the unevenness of the annular hanging basket.

[0004] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0005] The present invention provides a control system for a large annular variable-diameter hanging basket, which includes the following modules connected to each other: an operation module, a display module, a warning module, a control module, an action module, and a collection module; where:

[0006] The operation module is used to provide operation instructions during the operation of the hanging basket;

[0007] The control module is used to convert the operation instructions received from the operation module into corresponding electrical signals and transmit them to the action module after receiving the operation instructions from the operation module;

[0008] The action module is used to control the motor in the action module to execute instructions through forward and reverse operations according to the electrical signals sent by the control module, thereby changing the state of the hanging basket;

[0009] The collection module includes a variety of sensors and is used to collect various state data of the hanging basket through various sensors and input them to the control module as feedback data for closed-loop control of operation instructions;

[0010] The display module is used to display the working state of the hanging basket and the feedback data of closed-loop control of operation instructions;

[0011] The warning module is used to output the fault information during the operation of the hanging basket through the warning module.

[0012] Further, the hanging basket of the present invention is an annular variable-diameter hanging basket, which is composed of n corner hanging baskets and n sliding plates. Each corner hanging basket is suspended on a steel wire rope by two hoisting machines. The corner hanging baskets are connected by sliding plates. An extensible machine is installed in the sliding plate. The length of the sliding plate is adjusted by synchronously driving n extensible machines, thereby changing the diameter of the annular hanging basket; 2n hoisting machines operate synchronously to drive the annular hanging basket to rise and fall synchronously.

[0013] Further, the control mode of the operation module of the present invention includes: issuing an operation instruction through a physical button or a virtual button on the touch screen of the display module; through different operation instructions, specifying that the hanging basket operates in two different modes: manual mode and automatic mode.

[0014] Further, the operation module of the present invention operates in manual mode:

[0015] Select any one or all of the hoisting machines of the hanging basket through a selection switch or a virtual button on the touch screen, and then operate a single or all of the hoisting machines to rise or fall through an up or down button or a virtual button on the touch screen;

[0016] Select any one or all of the extensible machines of the hanging basket through a selection switch or a virtual button on the touch screen, and then operate a single or all of the extensible machines to extend or retract through an extend or retract button or a virtual button on the touch screen.

[0017] Further, the operation module of the present invention operates in automatic mode:

[0018] Four actions are realized: all hoisting machines rise and fall synchronously, one-key leveling, all extensible machines extend and retract synchronously, and all hoisting machines and extensible machines rise and fall and extend and retract simultaneously according to a certain speed relationship;

[0019] Make all hoisting machines rise and fall synchronously. During the lifting process, according to the actual environmental conditions, different synchronous control schemes are selected, including: inputting the height difference data collected by the level sensor into the control module, adjusting the running speed of each hoisting machine, adjusting the height difference of each point of the hanging basket to the minimum, and at the same time referring to the data collected by other sensors in the acquisition module. When the deviation reaches the limit value, or when it runs to the target position, it can automatically stop; inputting the data of the lifting distance of the hoisting machine along the steel wire rope collected by the encoder into the control module, adjusting the running speed of each hoisting machine, adjusting the height difference of each point of the hanging basket to the minimum, and at the same time referring to the data collected by other sensors in the acquisition module. When the deviation reaches the limit value, or when it runs to the target position, it can automatically stop;

[0020] Automatically lift part of the hoist according to a given algorithm. Input the height difference data collected by the level sensor into the control module to control the lifting and lowering actions of each hoist, reducing the deviation within 10 mm.

[0021] Synchronize the telescoping of all telescopic machines. At the same time, collect the telescoping amount data using a wire displacement gauge and adjust the telescoping speed through a certain adjustment scheme to ensure consistent telescoping amounts. Also, refer to the data collected by other sensors in the acquisition module. When the deviation reaches the limit value or the operation reaches the target position, it can automatically stop.

[0022] All hoists and telescopic machines lift and telescope simultaneously according to a certain speed relationship, which can be a fixed proportional relationship or a non-linear proportional relationship.

[0023] Furthermore, the display module of the present invention uses a touch screen, which can realize the input of operation control data and operation instructions, and at the same time display the data collected by the acquisition module, reflect the operating state of the annular hanging basket in real time, and display the fault situation notification information in the alarm system.

[0024] Furthermore, the control module of the present invention includes: a programmable logic controller, a digital-to-analog converter, a frequency converter, and a relay; it can receive the operation instructions input by the operation module and the status data reflecting the structure of the hanging basket input by the acquisition module, control the operation mode of the motor in the action module by outputting frequency changes of the frequency converter and the on-off of the relay switch, and ensure the same speed of each hoist and telescopic machine through closed-loop control.

[0025] Furthermore, the alarm module of the present invention collects the status data of the hanging basket structure through the acquisition module. After calculation by the control module, when it is found that the deviation exceeds the limit value or the load exceeds the limit value, or a motor fault in the action module is found, an alarm signal can be sent through the sound and light alarm device, and at the same time, the specific fault information is displayed on the display module.

[0026] Furthermore, the action module of the present invention includes a lifting motor and a telescopic motor. The lifting motor is used to change the height position of the hanging basket platform, and the telescopic motor is used to change the diameter of the hanging basket platform; an encoder is connected to each lifting motor, and the encoder is used to collect the running length of the wire rope driven by the motor.

[0027] Furthermore, the acquisition module of the present invention includes a wire displacement gauge, an encoder, a weighing sensor, a level sensor, and a current acquisition module of the motor provided by the frequency converter; among them:

[0028] The wire displacement gauge is used to measure the telescopic amount of the telescopic motor during operation. The encoder is used to measure the running length of the hoisting wire rope driven by the hoist motor. The weighing sensor is used to collect the magnitude of the hoisting force provided by each hoist. The level sensor is used to collect the height difference of the platform below each hoisting point of the hanging basket structure. The data collected by the acquisition module is input into the control module after digital-to-analog conversion, which is used for the closed-loop control during the hoisting and telescopic operation, or to provide status monitoring data for display, or to provide a basis for fault alarm.

[0029] The beneficial effects of the present invention are as follows: The control system for the large annular variable-diameter hanging basket of the present invention can automatically adapt to the problem of inconsistent hoisting speeds caused by the deviation of the hoist itself and the deviation of the load borne during operation, ensuring the balance of the hanging basket. It solves the dilemma that the existing automatic control technology cannot be used, and manual control requires external measurement of the height difference, resulting in low operating efficiency, and can effectively avoid the risk of structural damage due to excessive height difference during operation.

[0030] Using the present invention can make the annular hanging basket automatically level during operation, reduce the operation difficulty, greatly improve the hoisting and lowering operation speed, and at the same time can realize the synchronous hoisting and telescoping, greatly improving the operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0032] Figure 1 is the block diagram of the composition of the control system of the embodiment of the present invention.

[0033] In the figure: 1. Operation module; 2. Display module; 3. Warning module; 4. Control module; 5. Action module; 6. Acquisition module.

[0034] Figure 2 is the schematic diagram of the control principle of the synchronous hoisting process of the embodiment of the present invention.

[0035] Figure 3 is the schematic diagram of the structure of the annular hanging basket of the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0037] As Figure 1 、 Figure 2As shown in the figure, the control system for a large annular variable-diameter hanging basket according to an embodiment of the present invention includes the following interconnected modules: an operation module, a display module, a warning module, a control module, an action module, and a collection module; where:

[0038] The operation module is used to provide operation instructions during the operation of the hanging basket.

[0039] The control module is used to convert the operation instructions received from the operation module into corresponding electrical signals and transmit them to the action module.

[0040] The action module is used to control the motor in the action module to execute the instructions by running forward and backward according to the electrical signals sent by the control module, thereby changing the state of the hanging basket.

[0041] The collection module includes a variety of sensors and is used to collect various state data of the hanging basket through various sensors and input them to the control module as feedback data for closed-loop control of the operation instructions.

[0042] The display module is used to display the working state of the hanging basket and the feedback data of the closed-loop control of the operation instructions.

[0043] The warning module is used to output the fault information during the operation of the hanging basket through the warning module.

[0044] The control methods of the operation module include: issuing operation instructions through physical buttons or virtual buttons on the touch screen of the display module; specifying the hanging basket to operate in two different modes, namely, manual mode and automatic mode, through different operation instructions.

[0045] The operation module operates in manual mode:

[0046] Select any one or all of the hoists of the hanging basket through a selection switch or virtual buttons on the touch screen, and then operate a single or all of the hoists to rise or fall through the up or down buttons or virtual buttons on the touch screen.

[0047] Select any one or all of the extensors of the hanging basket through a selection switch or virtual buttons on the touch screen, and then operate a single or all of the extensors to extend or retract through the extend or retract buttons or virtual buttons on the touch screen.

[0048] The operation module operates in automatic mode:

[0049] Four actions are achieved: synchronous lifting and lowering of all hoists, one-key leveling, synchronous extension and retraction of all extensors, and simultaneous lifting, lowering, extension, and retraction of all hoists and extensors according to a certain speed relationship.

[0050] Synchronize the lifting of all elevators. During the lifting process, select different synchronization control schemes according to the actual environmental conditions, including: input the height difference data collected by the level sensor into the control module to adjust the running speed of each elevator, minimize the height difference at each point of the hanging basket, and at the same time refer to the data collected by other sensors in the acquisition module. When the deviation reaches the limit value or the target position is reached, the elevator can stop automatically; input the data of the lifting distance of the elevator along the steel wire rope collected by the encoder into the control module to adjust the running speed of each elevator, minimize the height difference at each point of the hanging basket, and at the same time refer to the data collected by other sensors in the acquisition module. When the deviation reaches the limit value or the target position is reached, the elevator can stop automatically;

[0051] Make some elevators lift automatically according to a given algorithm. Input the height difference data collected by the level sensor into the control module to control the lifting and lowering actions of each elevator and reduce the deviation within 10 mm;

[0052] Synchronize the telescoping of all telescopic machines. At the same time, use the wire-drawing displacement gauge to collect the telescoping amount data and adjust the telescoping speed through a certain adjustment scheme to ensure that the telescoping amounts are consistent. At the same time, refer to the data collected by other sensors in the acquisition module. When the deviation reaches the limit value or the target position is reached, the telescopic machine can stop automatically;

[0053] All elevators and telescopic machines lift and telescope simultaneously according to a certain speed relationship, which can be a fixed proportional relationship or a non-linear proportional relationship.

[0054] The display module uses a touch screen, which can realize the input of operation control data and operation instructions, and at the same time display the data collected by the acquisition module, reflect the running state of the annular hanging basket in real time, and display the fault situation notification information in the alarm system.

[0055] The control module includes: a programmable logic controller, a digital-to-analog converter, a frequency converter, and a relay; it can receive the operation instructions input by the operation module, receive the status data reflecting the structure of the hanging basket input by the acquisition module, control the running mode of the motor in the action module through the output frequency change of the frequency converter and the on / off of the relay switch, and ensure the same speed of each elevator and telescopic machine through closed-loop control.

[0056] The alarm module, by collecting the status data of the hanging basket structure through the acquisition module and performing calculations through the control module, when it is found that the deviation exceeds the limit value or the load exceeds the limit value, or a motor fault in the action module is found, an alarm signal can be sent through the sound and light alarm device, and at the same time, the specific fault information is displayed on the display module.

[0057] The action module includes a lifting motor and a telescopic motor. The lifting motor is used to change the height position of the hanging basket platform, and the telescopic motor is used to change the diameter of the hanging basket platform. An encoder is connected to each lifting motor, and the encoder is used to collect the running length of the wire rope driven by the motor.

[0058] The acquisition module includes a wire-pulling displacement gauge, an encoder, a weighing sensor, a level sensor, and a current acquisition module of the motor provided by a frequency converter. Among them:

[0059] The wire-pulling displacement gauge is used to measure the telescopic amount of the telescopic motor during operation. The encoder is used to measure the running length of the lifting wire rope driven by the hoist motor. The weighing sensor is used to collect the magnitude of the lifting force provided by each lift. The level sensor is used to collect the height difference of the platform below each lifting suspension point of the hanging basket structure. The data collected by the acquisition module is input into the control module after analog-to-digital conversion, and is used for closed-loop control during the lifting and telescopic operation processes, or for providing status monitoring data for display, or for providing a basis for fault alarm.

[0060] As Figure 3 shown, the hanging basket in the embodiment of the present invention is an annular variable-diameter hanging basket, which is composed of n corner hanging baskets and n sliding plates. Each corner hanging basket is suspended on the wire rope by 2 hoists. The corner hanging baskets are connected by sliding plates. A telescopic machine is installed in the sliding plate, and the length of the sliding plate is adjusted by synchronously driving n telescopic machines, so as to change the diameter of the annular hanging basket; 2n hoists operate synchronously to drive the annular hanging basket to rise and fall synchronously.

[0061] In another specific embodiment of the present invention:

[0062] First, according to the height difference data collected by the level sensor, judge the influence of the environmental wind on the data of the level sensor. If the fluctuation of the maximum height difference is within 10 mm, automatic leveling based on the level sensor can be selected; otherwise, automatic leveling based on the encoder is selected.

[0063] When performing automatic leveling based on the level sensor, first input control parameters, including the target speed of the hanging basket operation, the upper and lower limit positions, and deviation limit values (including the height difference limit value collected by the level sensor, the lifting amount deviation limit value of each hoist collected by the encoder, and the maximum allowable value of the load value of each lifting point collected by the weighing sensor). Then input a control command to rise or fall synchronously.

[0064] After receiving the control instruction, the control module starts to determine whether it meets the operating conditions based on the data collected by the sensors. If the position of the hanging basket is within the range of the upper and lower limit positions and the height difference and load do not exceed the limit values, it can be started; otherwise, it cannot be started. At the same time, an error message is sent to the alarm module for prompt. The position data of the hanging basket is the average value of the position data collected by 8 encoders. The position data of a single encoder is the accumulation of the lifting amount relative to the reference position after calibrating the value at the reference position.

[0065] If it cannot be started due to the height difference and load exceeding the limit, it is necessary to adjust the position of a single hoist in the manual mode, or recalibrate, or adjust the deviation limit range to meet the operating conditions. After meeting the operating conditions, the control module uses the data of the level sensor to achieve PID closed-loop control of the hoist lifting process, and at the same time refers to the encoder data and the load cell data to further ensure the safe operation of the hanging basket.

[0066] The control module analyzes the height data collected by 8 level sensors and analyzes the height difference value of the 2-8# level sensors relative to the 1# level sensor as the initial input. For the hoist with a relatively low position, increase the output frequency of its corresponding frequency converter to increase the speed of the corresponding hoist. For the hoist with a relatively high position, decrease the output frequency of its corresponding frequency converter. The adjustment range of the frequency is such that the height difference is zero after a given operating distance. After running for a short period of time, read the height difference value of the level sensor again to judge the adjustment effect of the height difference, compare it with the theoretical data, and make corresponding adjustments to the adjustment range of the frequency. At the same time, read the encoder data and the load cell data to judge whether their deviations meet the requirements. If they do not meet the requirements, stop the machine immediately and give an alarm, and send an error message for prompt.

[0067] It should be understood that those of ordinary skill in the art can make improvements or transformations according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. A control system for a large-scale annular variable-diameter hanging basket, characterized in that, The system includes the following interconnected modules: an operation module, a display module, a warning module, a control module, an action module, and a collection module; where: The operation module is used to provide operation instructions during the operation of the hanging basket; The control module is used to convert the operation instructions received from the operation module into corresponding electrical signals and transmit them to the action module; The action module is used to control the motor in the action module to execute instructions through forward and reverse operation according to the electrical signals sent by the control module, thereby changing the state of the hanging basket; The collection module includes a variety of sensors and is used to collect various state data of the hanging basket through various sensors and input them into the control module as feedback data for closed-loop control of the operation instructions; The display module is used to display the working state of the hanging basket and the feedback data of the closed-loop control of the operation instructions; The warning module is used to output the fault information during the operation of the hanging basket through the warning module; The control mode of the operation module includes: sending operation instructions through physical buttons or virtual buttons on the touch screen of the display module; specifying the hanging basket to operate in two different modes, namely, manual mode and automatic mode, through different operation instructions; The operation module operates in manual mode: Select any one or all of the hoists of the hanging basket through a selector switch or a virtual button on the touch screen, and then operate a single or all of the hoists to rise or fall through the up or down button or a virtual button on the touch screen; Select any one or all of the extensors of the hanging basket through a selector switch or a virtual button on the touch screen, and then operate a single or all of the extensors to extend or retract through the extend or retract button or a virtual button on the touch screen; The operation module operates in automatic mode: Four actions are realized: synchronous lifting and lowering of all hoists, one-key leveling, synchronous extension and retraction of all extensors, and simultaneous lifting, lowering, extension, and retraction of all hoists and extensors according to a certain speed relationship; Make all hoists lift and lower synchronously. During the lifting and lowering process, according to the actual environmental conditions, select different synchronous control schemes, including: inputting the height difference data collected by the level sensor into the control module, adjusting the running speed of each hoist, adjusting the height difference of each point of the hanging basket to the minimum, and at the same time referring to the data collected by other sensors in the collection module. When the deviation reaches the limit value or runs to the target position, it can automatically stop; inputting the lifting and lowering distance data of the hoist along the wire rope collected by the encoder into the control module, adjusting the running speed of each hoist, adjusting the height difference of each point of the hanging basket to the minimum, and at the same time referring to the data collected by other sensors in the collection module. When the deviation reaches the limit value or runs to the target position, it can automatically stop; Make some hoists automatically lift and lower according to a given algorithm, input the height difference data collected by the level sensor into the control module, control each hoist to perform lifting and lowering actions, and reduce the deviation to within 10mm; Make all extensors extend and retract synchronously, and at the same time use a wire displacement gauge to collect the data of the extension amount and adjust the extension speed through a certain adjustment scheme to ensure that the extension amounts are consistent. At the same time, refer to the data collected by other sensors in the collection module. When the deviation reaches the limit value or runs to the target position, it can automatically stop; All elevators and extensors move up and down and extend and retract simultaneously according to a certain speed relationship, which can be a fixed proportional relationship or a non-linear proportional relationship.

2. The control system for a large annular variable-diameter hanging basket according to claim 1, wherein, The hanging basket is an annular variable-diameter hanging basket, which is composed of n corner hanging baskets and n sliding plates. Each corner hanging basket is suspended on the steel wire rope by 2 elevators. The corner hanging baskets are connected by sliding plates. The extensors are installed in the sliding plates. The lengths of the sliding plates are adjusted synchronously by n extensors to change the diameter of the annular hanging basket. 2n elevators operate synchronously to drive the annular hanging basket to move up and down synchronously.

3. The control system for a large ring variable-diameter hanging basket according to claim 1, characterized in that, The display module uses a touch screen, which can realize the input of operation control data and operation instructions, and at the same time display the data collected by the acquisition module, reflect the operating state of the annular hanging basket in real time, and display the fault situation notification information in the alarm system.

4. The control system for a large annular variable-diameter hanging basket according to claim 1, wherein, The control module includes: a programmable logic controller, a digital-to-analog converter, a frequency converter, and a relay. It can receive the operation instructions input by the operation module and the state data reflecting the structure of the hanging basket input by the acquisition module, control the operation mode of the motor in the action module by outputting frequency changes and relay switch on and off through the frequency converter, and ensure the same speed of each elevator and extensor through closed-loop control.

5. The control system for a large annular variable-diameter hanging basket according to claim 1, characterized in that, The warning module, by collecting the state data of the hanging basket structure through the acquisition module, after calculation by the control module, when it is found that the deviation exceeds the limit value or the load exceeds the limit value, or a motor fault in the action module is found, an alarm signal can be sent through the sound and light alarm device, and at the same time the specific fault information is displayed on the display module.

6. The control system for a large annular variable-diameter hanging basket according to claim 1, wherein The action module includes a lifting motor and an extending motor. The lifting motor is used to change the height position of the hanging basket platform, and the extending motor is used to change the diameter of the hanging basket platform. An encoder is connected to each lifting motor, and the encoder is used to collect the running length of the steel wire rope driven by the motor.

7. The control system for a large annular variable-diameter hanging basket according to claim 1, characterized in that, The acquisition module includes a wire-drawing displacement gauge, an encoder, a weighing sensor, a level sensor, and a current acquisition module of the motor provided by the frequency converter. Among them: The wire-drawing displacement gauge is used to measure the extension amount of the extending motor, the encoder is used to measure the running length of the lifting wire rope driven by the lifting motor, the weighing sensor is used to collect the magnitude of the lifting force provided by each lift, and the level sensor is used to collect the height difference of the platform below each lifting suspension point of the hanging basket structure. The data collected by the acquisition module is input into the control module after digital-to-analog conversion, which is used for closed-loop control during the lifting and extending operation process, or provides status monitoring data for display, or provides a basis for fault alarm.

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