An equipment for pod slewing braking and its control method

Abstract

A device for pod rotation braking, the device for pod rotation braking includes multiple groups of motor components, the device for pod rotation braking includes a pod device, multiple groups of motor components and a slewing device. Multiple groups of motor components are all installed on the top of the slewing device, the pod device is arranged at the bottom of the slewing device, and multiple groups of motor components are arranged around the side of the pod device. All motor components drive the pod device to move through the slewing device; the output end of the variable-frequency motor is connected to one end of the torque limiter, and the other end of the torque limiter is connected to one end of the speed reducer; a mounting bracket is installed on the right side of the variable-frequency motor, a motor bracket is installed on the right side of the mounting bracket, and the right end of the motor bracket is connected to the left side of the second mounting bracket. This design can control the remaining normally driving devices separately when one or more devices fail, with better braking efficiency and safer operation.

Description

Technical Field

[0001] The present invention relates to an improvement in the technology of pod slewing braking, belonging to the field of electrical equipment, and particularly relates to an equipment for pod slewing braking and its control method. Background Art

[0002] During the slewing process of the pod, it must be able to stably stop at any angle. The brake is a necessary condition to meet this requirement, which poses certain requirements for the control of the electric motor brake. According to the working requirements of the pod equipment B and the working characteristics of the variable-frequency motor to output constant torque below the rated frequency, during different starting processes, the control strategies of the brake are different, and it is very easy to occur that when one device fails, the braking of other devices cannot be controlled independently.

[0003] The Chinese patent application with the application number CN201810783823.4 and the application date of July 17, 2018 discloses a slewing control mechanism, a slewing braking device, a pod thruster and a ship power system. A slewing control mechanism includes: a brake shaft, a static friction plate assembly, a dynamic friction plate assembly, a piston ring, and a spring. By adjusting the compression amount of the spring, the piston ring moves under the action of the first pressure of the spring and the acting force generated by the hydraulic control component, and applies a second pressure to the static friction plate assembly, further inputting a rotational torque to the rotating shaft, so that the output torque of the rotating shaft is adjusted accordingly. The embodiment of the present invention has a compact structure and low cost, and can reduce the impact on the drive shaft of the slewing power device in the ship power plant, and avoid damage caused by excessive instantaneous load. However, the above document still does not solve the problem that when one device fails, the braking of other devices cannot be controlled independently.

[0004] Disclosing the information of this background art section is only intended to increase the understanding of the overall background of the present patent application, and should not be regarded as an admission or any form of suggestion that this information constitutes the prior art already known to those of ordinary skill in the art. Summary of the Invention

[0005] The object of the present invention is to overcome the problem in the prior art that when one device fails, the braking of other devices cannot be controlled independently, and provides an equipment for pod slewing braking and its control method with parallel control of multiple devices.

[0006] To achieve the above object, the technical solution of the present invention is: an equipment for pod slewing braking, the equipment for pod slewing braking includes a pod device, multiple groups of motor components and a slewing device. Multiple groups of motor components are all installed on the top of the slewing device, the pod device is arranged at the bottom of the slewing device, and multiple groups of motor components are arranged around the side of the pod device. All the motor components drive the pod device to move through the slewing device;

[0007] The motor assembly includes a variable-frequency motor, a mounting bracket, a torque limiter, a motor support, two proximity switches, a proximity switch, a speed reducer, and two mounting brackets;

[0008] The output end of the variable-frequency motor is connected to one end of the torque limiter, and the other end of the torque limiter is connected to one end of the speed reducer;

[0009] A mounting bracket is installed on the right side of the variable-frequency motor, a motor support is installed on the right side of the mounting bracket, the right end of the motor support is connected to the left side of the two mounting brackets, the two mounting brackets are installed on the slewing device, the speed reducer is installed on the left side of the two mounting brackets, a proximity switch is installed on the upper slant bar, and two proximity switches are installed on the lower slant bar;

[0010] The proximity switch and the two proximity switches are signal-connected to the torque limiter;

[0011] A brake, a temperature sensor, a speed encoder, an electric heating tape, a forced air cooler, and a frequency converter are provided inside the variable-frequency motor;

[0012] The variable-frequency motor is signal-connected to the control unit.

[0013] Connecting rods are provided at both the top and bottom of the speed reducer, and one ends of the two connecting rods respectively penetrate through the motor support and extend to the outside.

[0014] The connecting rod includes a vertical rod and a straight rod. One end of the vertical rod is threadedly connected to the speed reducer, the other end of the vertical rod is connected to one end of the straight rod, and a nut is provided at the other end of the straight rod.

[0015] An electromagnetic brake is further provided inside the variable-frequency motor. The electromagnetic brake serves as a parking brake mechanism to stabilize the pod equipment at any angle.

[0016] A control method for a pod slewing braking device, the method comprising the following steps:

[0017] Step 1: Connect multiple groups of motor assemblies in parallel and operate them in a joint control mode, with multiple motor assemblies operating simultaneously;

[0018] Step 2: Detect the status of multiple groups of motor assemblies. If the parameters of the variable-frequency motor are normal, no-fault alarm is given;

[0019] Step 3: Start the slewing mechanism. The variable-frequency motor receives the operation signal from the control unit and operates. After the frequency converter inside the variable-frequency motor detects that the variable-frequency motor reaches the preset torque, the frequency converter controls the brake to open. The variable-frequency motor drives the speed reducer to operate through the torque limiter, and the speed reducer drives the pod equipment to operate through the slewing device;

[0020] Step 4: After the pod equipment runs to the designated position, the speed of the variable-frequency motor drops to the set speed, the brake is closed, and the variable-frequency motor stops working. At this time, the braking is completed.

[0021] The second step also includes two other operating conditions, which are as follows:

[0022] Condition 1: One or more motor components are detected to be faulty and cannot operate normally, but the remaining motor components meet the operating conditions of the slewing mechanism;

[0023] Condition 2: One or more torque limiters are detected to be over-limit, and the corresponding variable-frequency motors need to be shut down, but the remaining variable-frequency motors meet the operating conditions of the slewing mechanism;

[0024] The operation process of the above Condition 1 is as follows:

[0025] Operation 1: When one or more motor parameters are abnormally faulty, the control unit converts the control authority of the inoperable brake from the frequency converter control to the control unit control;

[0026] Operation 2: Start the slewing mechanism. At the same time, the control unit sends an open command to the brake of the faulty variable-frequency motor. The faulty brake opens, and the operable variable-frequency motor drives the pod equipment to run;

[0027] Operation 3: After the pod equipment runs to the designated position, the speed of the running variable-frequency motor drops to the set speed. At the same time, the brake is closed, and the running variable-frequency motor works. After the control unit receives the signal that the brake of the normal operation is closed, it sends a brake closing command to the faulty variable-frequency motor, and the brake of the faulty variable-frequency motor is closed. At this time, all brakes are closed, and the braking is completed.

[0028] The statement that the operable variable-frequency motor drives the pod equipment to run in Operation 2 means that the frequency converter of the operable variable-frequency motor receives the running signal, the variable-frequency motor runs, and after the frequency converter detects that the variable-frequency motor reaches the pre-set torque, the frequency converter controls the brake to open, and the pod equipment runs.

[0029] The braking process of the above Condition 2 is as follows:

[0030] Braking 1: When one or more torque limiters are over-limit, the control unit converts the control authority of its corresponding brake from the frequency converter control to the control unit control;

[0031] Braking 2: The control unit stops sending commands to the torque limiters of the over-limit variable-frequency motors, and the variable-frequency motors stop running, but all brakes remain open. The variable-frequency motors become follower rotations, and the other torque limiters without overload are not affected and continue to run, driving the pod equipment to run;

[0032] Brake Three: After the pod equipment runs to the designated position, the rotational speed of the operating variable-frequency motor drops to the set speed. At the same time, the brake closes, the variable-frequency motor stops working. After the control unit receives the signal that the brake of normal operation has closed, it sends a brake closing instruction to the faulty variable-frequency motor, and the faulty brake closes. Thus, all brakes are closed.

[0033] The torque limiter is a steel ball torque limiter that uses a precision spring to control the critical torque.

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0035] 1. In the equipment for pod rotary braking and its control method of the present invention, the equipment for pod rotary braking includes multiple groups of motor components, which are interconnected. The output end of the variable-frequency motor is connected to one end of the torque limiter, and the other end of the torque limiter is connected to one end of the speed reducer. An installation bracket is installed on the right side of the variable-frequency motor, a motor bracket is installed on the right side of the installation bracket, the right end of the motor bracket is connected to the left side of the second installation bracket, and the speed reducer is installed on the left side of the second installation bracket. A proximity switch is installed on the upper slant bar, and a second proximity switch is installed on the lower slant bar. Through the arrangement of multiple groups of motor components, when one or more devices fail, the remaining normally driving devices can be controlled individually, with better braking efficiency and safer operation. Therefore, this design can perform braking individually and operate safely.

[0036] 2. In the equipment for pod rotary braking and its control method of the present invention, the output end of the variable-frequency motor is connected to one end of the torque limiter, and the other end of the torque limiter is connected to one end of the speed reducer. The torque limiter is a steel ball torque limiter that uses a precision spring to control the critical torque. When the equipment is overloaded, the driving end stops first, and the driving end idles. At the moment of overload, the steel balls cause the torque limiter to have an axial displacement. The proximity switch detects the displacement and gives an alarm signal to be output to the control unit. The torque limiter is a component connecting the prime mover and the working machine, and its main function is overload protection. When the required torque exceeds the set value due to overload or mechanical failure, it limits the torque transmitted by the transmission system in a slipping form and resumes connection automatically after the overload situation disappears, which can avoid shutdown losses. Therefore, this design is safe to use and can be used without shutdown.

[0037] 3. In the equipment for pod slewing braking and its control method of the present invention, in Case 1: one or more motor components are detected to be faulty and cannot operate normally, but the remaining motor components meet the operating conditions of the slewing mechanism; in Case 2: one or more torque limiters are detected to be over-limit, and the corresponding frequency conversion motors need to be shut down, but the remaining frequency conversion motors meet the operating conditions of the slewing mechanism. This design can make corresponding responses after failures occur in different equipment under various different situations, with richer emergency measures and improved work efficiency. Therefore, the emergency plan of this design is perfect and the efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is the structural schematic diagram of the present invention.

[0039] Figure 2 is the bottom view of the present invention.

[0040] Figure 3 is the structural schematic diagram of the motor component in the present invention.

[0041] Figure 4 is the structural schematic diagram of the connecting rod in the present invention.

[0042] Figure 5 is the signal connection schematic diagram of the frequency conversion motor and the control unit in the present invention.

[0043] In the figure: motor component A, pod equipment B, slewing device C, frequency conversion motor 1, first mounting bracket 2, torque limiter 3, motor support 4, second proximity switch 5, first proximity switch 6, connecting rod 7, vertical rod 71, straight rod 72, nut 73, speed reducer 8, second mounting bracket 9, control unit 10, brake 11, temperature sensor 12, speed encoder 13, electric heating tape 14, strong cooling fan 15, frequency converter 16, electromagnetic brake 17. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] The present invention will be further described in detail below in conjunction with the description of the drawings and the detailed description of the embodiments.

[0045] See Figures 1 to 5 , an equipment for pod slewing braking, the equipment for pod slewing braking includes a pod equipment B, multiple groups of motor components A and a slewing device C. Multiple groups of motor components A are all installed on the top of the slewing device C, the pod equipment B is arranged at the bottom of the slewing device C, and multiple groups of motor components A are arranged around the side of the pod equipment B. All the motor components A drive the pod equipment B to move through the slewing device C;

[0046] The motor component A includes a frequency conversion motor 1, a first mounting bracket 2, a torque limiter 3, a motor support 4, a second proximity switch 5, a first proximity switch 6, a speed reducer 8 and a second mounting bracket 9;

[0047] The output end of the variable-frequency motor 1 is connected to one end of the torque limiter 3, and the other end of the torque limiter 3 is connected to one end of the speed reducer 8;

[0048] An installation bracket 2 is installed on the right side of the variable-frequency motor 1, a motor support 4 is installed on the right side of the installation bracket 2, the right end of the motor support 4 is connected to the left side of the second installation bracket 9, the second installation bracket 9 is installed on the slewing device C, and the speed reducer 8 is installed on the left side of the second installation bracket 9. A proximity switch 6 is installed on the upper slant bar 4, and a second proximity switch 5 is installed on the lower slant bar 4;

[0049] The first proximity switch 6 and the second proximity switch 5 are signal-connected to the torque limiter 3;

[0050] A brake 11, a temperature sensor 12, a speed encoder 13, an electric heating tape 14, a forced air cooler 15 and an inverter 16 are arranged inside the variable-frequency motor 1;

[0051] The variable-frequency motor 1 is signal-connected to the control unit 10.

[0052] Connecting rods 7 are arranged at the top and bottom of the speed reducer 8, and one ends of the two connecting rods 7 respectively penetrate through the motor support 4 and extend to the outside.

[0053] The connecting rod 7 includes a vertical rod 71 and a straight rod 72. One end of the vertical rod 71 is threadedly connected to the speed reducer 8, the other end of the vertical rod 71 is connected to one end of the straight rod 72, and a nut 73 is arranged at the other end of the straight rod 72.

[0054] An electromagnetic brake 17 is further arranged inside the variable-frequency motor 1. The electromagnetic brake 17 serves as a parking braking mechanism to stabilize the nacelle equipment B at any angle.

[0055] A control method for a nacelle slewing braking device, the usage method comprising the following steps:

[0056] Step 1: Connect multiple groups of motor assemblies A in parallel and operate them in a joint control mode, and multiple motor assemblies A operate simultaneously;

[0057] Step 2: Detect the states of multiple groups of motor assemblies A. If the parameters of the variable-frequency motor 1 are normal, give a no-fault alarm;

[0058] Step 3: Start the slewing mechanism. The variable-frequency motor 1 operates after receiving the operation signal from the control unit 10. After the inverter 16 inside the variable-frequency motor 1 detects that the variable-frequency motor 1 reaches the preset torque, the inverter 16 controls the brake 11 to open. The variable-frequency motor 1 drives the speed reducer 8 to operate through the torque limiter 3, and the speed reducer 8 drives the nacelle equipment B to operate through the slewing device C;

[0059] Step 4: After the pod device B runs to the designated position, the speed of the variable frequency motor 1 drops to the set speed, the brake 11 is closed, and the variable frequency motor 1 stops working, and the braking is completed at this time.

[0060] The step 2 also includes two other operating conditions, which are as follows:

[0061] Case 1: One or more motor components A are detected to be faulty and cannot operate normally, but the remaining motor components A meet the operating conditions of the slewing mechanism;

[0062] Case 2: It is detected that one or more torque limiters 3 are over-limited, and the corresponding variable frequency motors 1 need to be shut down, but the remaining variable frequency motors 1 meet the operating conditions of the slewing mechanism;

[0063] The operation process of the first situation is as follows:

[0064] Operation 1: When one or more motor parameters are abnormal, the control unit 10 transfers the control authority of the brake 11 that cannot be operated from the inverter 16 to the control of the control unit 10;

[0065] Operation 2: Start the slewing mechanism, and at the same time, the control unit 10 sends an opening command to the brake 11 of the faulty variable frequency motor 1, so that the faulty brake 11 opens, and the operable variable frequency motor 1 drives the pod device B to operate;

[0066] Operation three, after the pod equipment B runs to the specified position, the speed of the running variable frequency motor 1 drops to the set speed, and the brake 11 is closed at the same time, and the running variable frequency motor 1 works. After the control unit 10 receives the signal that the brake 11 of the normal operation is closed, it sends a brake 11 closing command to the faulty variable frequency motor 1, and the brake 11 of the faulty variable frequency motor 1 is closed. At this point, all brakes 11 are closed, and braking is completed.

[0067] In the second operation, the operable variable frequency motor 1 drives the pod device B to operate, which means that the frequency converter 16 of the operable variable frequency motor 1 receives an operation signal, the variable frequency motor 1 operates, and after the frequency converter 16 detects that the variable frequency motor 1 reaches a preset torque, the frequency converter 16 controls the brake 11 to open, and the pod device B operates.

[0068] The braking process of the second situation is as follows:

[0069] Braking 1: One or more torque limiters 3 exceed the limit, and the control unit 10 converts the control authority of the corresponding brake 11 from the control of the inverter 16 to the control of the control unit 10;

[0070] Braking 2: The control unit 10 stops sending instructions to the torque limiter 3 of the overloaded variable frequency motor 1, and the variable frequency motor 1 stops running, but all brakes 11 remain in the open state, the variable frequency motor 1 changes to follow the rotation, and other torque limiters 3 that are not overloaded continue to run without being affected, driving the pod equipment B to run;

[0071] Braking three: After the pod equipment B runs to the specified position, the speed of the running variable frequency motor 1 drops to the set speed, and the brake 11 is closed at the same time, and the variable frequency motor 1 stops working. After the control unit 10 receives the signal that the normally operating brake 11 is closed, it sends a brake 11 closing command to the faulty variable frequency motor 1, and the faulty brake 11 is closed. At this point, all brakes 11 are closed.

[0072] The torque limiter 3 is a steel ball torque limiter, which uses a precision spring to control the critical torque.

[0073] When any driving device fails, the device can still rotate normally. To ensure that the device can still rotate normally when any power device fails, it is necessary to reasonably control the brake 11 to prevent the faulty brake 11 from locking the variable frequency motor 1 and causing a rotation mechanism failure.

[0074] Embodiment 1: A pod slewing braking device, the pod slewing braking device comprises a pod device B, multiple motor components A and a slewing device C, the pod device B and the multiple motor components A are all mounted on the slewing device C, the multiple motor components A are arranged around the side of the pod device B, and all the motor components A are connected to the pod device B; the motor component A comprises a variable frequency motor 1, a mounting frame 2, a torque limiter 3, a motor bracket 4, two proximity switches 5, a proximity switch 6, a reducer 8 and two mounting frames 9; the output end of the variable frequency motor 1 is connected to one end of the torque limiter 3, and the other end of the torque limiter 3 is connected to one end of the reducer 8; the variable frequency motor A mounting frame 2 is installed on the right side of the machine 1, a motor bracket 4 is installed on the right side of the mounting frame 2, the right end of the motor bracket 4 is connected to the left side of the second mounting frame 9, the second mounting frame 9 is installed on the rotary device C, the reducer 8 is installed on the left side of the second mounting frame 9, a proximity switch 6 is installed on the upper inclined rod 4, and two proximity switches 5 are installed on the lower inclined rod 4; the proximity switch 6 and the proximity switch 5 are connected to the torque limiter 3 by signal; the variable frequency motor 1 is provided with a brake 11, a temperature sensor 12, a speed encoder 13, an electric heating belt 14, a forced cooling fan 15 and a frequency converter 16; the variable frequency motor 1 is connected to the control unit 10 by signal.

[0075] A control method for a pod slewing brake device comprises the following steps:

[0076] Step 1: Connect multiple sets of motor assemblies A in parallel and operate them in a joint control mode, with multiple motor assemblies A running simultaneously.

[0077] Step 2: Detect the status of multiple sets of motor assemblies A. If all parameters of the variable-frequency motor 1 are normal, no fault alarm is issued.

[0078] Step 3: Start the slewing mechanism. The variable-frequency motor 1 runs upon receiving the operation signal from the control unit 10. After the frequency converter 16 in the variable-frequency motor 1 detects that the variable-frequency motor 1 reaches the pre-set torque, the frequency converter 16 controls the brake 11 to open. The variable-frequency motor 1 drives the reduction gear 8 to run through the torque limiter 3, and the reduction gear 8 drives the nacelle equipment B to run through the slewing device C.

[0079] Step 4: After the nacelle equipment B runs to the designated position, the speed of the variable-frequency motor 1 drops to the set speed, the brake 11 closes, and the variable-frequency motor 1 stops working. At this time, the braking is completed.

[0080] Embodiment 2: Embodiment 2 is basically the same as Embodiment 1, except that: A control method for a nacelle slewing braking device is as follows:

[0081] Operation 1: When one or more motor parameters have abnormal faults, the control unit 10 converts the control authority of the inoperable brake 11 from being controlled by the frequency converter 16 to being controlled by the control unit 10.

[0082] Operation 2: Start the slewing mechanism. At the same time, the control unit 10 sends an opening instruction to the brake 11 of the faulty variable-frequency motor 1, and the faulty brake 11 opens. The operable variable-frequency motor 1 drives the nacelle equipment B to run.

[0083] Operation 3: After the nacelle equipment B runs to the designated position, the speed of the running variable-frequency motor 1 drops to the set speed. At the same time, the brake 11 closes, and the running variable-frequency motor 1 works. After the control unit 10 receives the signal that the normally operating brake 11 has closed, it sends a closing instruction to the faulty variable-frequency motor 1, and the brake 11 of the faulty variable-frequency motor 1 closes. At this point, all brakes 11 are closed, and the braking is completed.

[0084] The statement that the operable variable-frequency motor 1 drives the nacelle equipment B to run means that the frequency converter 16 of the operable variable-frequency motor 1 receives the operation signal, the variable-frequency motor 1 runs, and after the frequency converter 16 detects that the variable-frequency motor 1 reaches the pre-set torque, the frequency converter 16 controls the brake 11 to open, and the nacelle equipment B runs.

[0085] Embodiment 3: Embodiment 3 is basically the same as Embodiment 1, except that: A control method for a nacelle slewing braking device is as follows:

[0086] Braking 1: One or more torque limiters 3 exceed the limit, and the control unit 10 converts the control authority of the corresponding brake 11 from the control of the inverter 16 to the control of the control unit 10;

[0087] Braking 2: The control unit 10 stops sending instructions to the torque limiter 3 of the overloaded variable frequency motor 1, and the variable frequency motor 1 stops running, but all brakes 11 remain in the open state, the variable frequency motor 1 changes to follow the rotation, and other torque limiters 3 that are not overloaded continue to run without being affected, driving the pod equipment B to run;

[0088] Braking three: After the pod equipment B runs to the specified position, the speed of the running variable frequency motor 1 drops to the set speed, and the brake 11 is closed at the same time, and the variable frequency motor 1 stops working. After the control unit 10 receives the signal that the normally operating brake 11 is closed, it sends a brake 11 closing command to the faulty variable frequency motor 1, and the faulty brake 11 is closed. At this point, all brakes 11 are closed.

[0089] The torque limiter 3 is a steel ball torque limiter, which uses a precision spring to control the critical torque. When the equipment is overloaded, the transmission end stops first and the driving end idles. At the moment of overload, the steel ball causes axial displacement of the torque limiter 3, and the proximity switch detects the displacement and outputs an alarm signal to the control unit 10. The torque limiter 3 is a component connecting the driving machine and the working machine, and its main function is overload protection. When the required torque exceeds the set value due to overload or mechanical failure, the torque limiter 3 limits the torque transmitted by the transmission system in the form of slipping, and automatically restores the connection when the overload disappears, thereby avoiding expensive downtime losses.

[0090] The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiment. Any equivalent modifications or changes made by ordinary technicians in this field based on the contents disclosed by the present invention should be included in the protection scope recorded in the claims.

Claims

1. A control method for a pod slewing brake device, the pod slewing brake device comprises a pod device and a slewing mechanism, the slewing mechanism comprises a plurality of motor assemblies and a slewing device, the plurality of motor assemblies are all mounted on the top of the slewing device, the pod device is arranged at the bottom of the slewing device, the plurality of motor assemblies are arranged around the side of the pod device, the plurality of motor assemblies drive the pod device to move through the slewing device; the motor assembly comprises a variable frequency motor, a mounting frame 1, a torque limiter, a motor bracket, a proximity switch 2, a proximity switch 1, a reducer and a mounting frame 2; the output end of the variable frequency motor is connected to one end of the torque limiter, The other end of the torque limiter is connected to one end of the reducer; a mounting frame 1 is installed on the right side of the variable frequency motor, a motor bracket is installed on the right side of the mounting frame 1, the right end of the motor bracket is connected to the left side of the mounting frame 2, the mounting frame 2 is installed on the rotary device, the reducer is installed on the left side of the mounting frame 2, a proximity switch 1 is installed on the upper motor bracket, and a proximity switch 2 is installed on the lower motor bracket; proximity switch 1 and proximity switch 2 are connected to the torque limiter signal; a brake, a temperature sensor, a speed encoder, an electric heating belt, a forced cooling fan and a frequency converter are arranged in the variable frequency motor; the variable frequency motor is connected to the control unit signal; It is characterized in that The control method comprises the following steps: Step 1: connect multiple motor components in parallel, operate them in a joint control mode, and operate multiple motor components simultaneously; Step 2: Check the status of multiple motor components, and if all parameters of the variable frequency motor are normal, a fault-free alarm will be issued; Step 3: Start the slewing mechanism. The variable frequency motor receives the operation signal from the control unit and starts to run. After the frequency converter in the variable frequency motor detects that the variable frequency motor reaches the preset torque, the frequency converter controls the brake to open. The variable frequency motor drives the reducer to run through the torque limiter, and the reducer drives the pod equipment to run through the slewing device. Step 4: After the pod equipment runs to the designated position, the speed of the variable frequency motor drops to the set speed, the brake is closed, and the variable frequency motor stops working, and the braking is completed at this time; The step 2 also includes the following operating conditions: one or more motor components are detected to be faulty and cannot operate normally, but the remaining motor components meet the operating conditions of the slewing mechanism; At this point, the operation process is as follows: Operation 1: When one or more variable frequency motors have abnormal parameters or faults, the control unit will transfer the control authority of the brake of the variable frequency motor that cannot run from the inverter control to the control unit control; Operation 2: Start the slewing mechanism, and at the same time, the control unit sends an opening command to the brake of the faulty variable frequency motor, so that the faulty brake opens, and the operable variable frequency motor drives the pod equipment to operate; Operation three: After the pod equipment runs to the specified position, the speed of the running variable frequency motor drops to the set speed, and the brake is closed at the same time, and the running variable frequency motor stops working. After the control unit receives the signal that the brake of the normal operation is closed, it sends a brake closing command to the faulty variable frequency motor, and the brake of the faulty variable frequency motor is closed. At this point, all brakes are closed, and braking is completed.

2. The control method of the pod slewing braking device according to claim 1, characterized in that: The step 2 also includes the following operating conditions: one or more torque limiters are detected to be over-limited, and the corresponding variable frequency motors need to be shut down, but the remaining variable frequency motors meet the operating conditions of the slewing mechanism; At this time, the braking process is as follows: Braking 1: One or more torque limiters exceed the limit, and the control unit converts the corresponding brake control authority from inverter control to control unit control; Braking 2: The control unit stops sending instructions to the torque limiter of the overloaded variable frequency motor, and the variable frequency motor stops running, but all brakes remain on, the variable frequency motor turns to follow-up rotation, and other torque limiters that are not overloaded continue to run without being affected, driving the pod equipment to run; Braking three: After the pod equipment runs to the specified position, the speed of the running variable frequency motor drops to the set speed, and the brake is closed at the same time, the variable frequency motor stops working. After the control unit receives the signal that the brake is closed in normal operation, it sends a brake closing command to the faulty variable frequency motor, and the faulty brake is closed. At this point, all brakes are closed.

3. The control method of the pod slewing braking device according to claim 1, characterized in that: The top and bottom of the reducer are both provided with connecting rods, and one end of the two connecting rods respectively penetrates the motor bracket and extends to the outside.

4. The control method of the pod slewing braking device according to claim 3, characterized in that: The connecting rod comprises a vertical rod and a straight rod, one end of the vertical rod is threadedly connected to the reducer, the other end of the vertical rod is connected to one end of the straight rod, and the other end of the straight rod is provided with a nut.

5. The control method of the pod slewing braking device according to claim 1, characterized in that: An electromagnetic brake is also arranged in the variable frequency motor, and the electromagnetic brake serves as a parking brake mechanism to stabilize the pod equipment at any angle.

6. The control method of the pod slewing braking device according to claim 1, characterized in that: In the second operation, the operable variable frequency motor drives the pod equipment to operate, which means that the frequency converter of the operable variable frequency motor receives an operating signal, the variable frequency motor operates, and after the frequency converter detects that the variable frequency motor reaches a preset torque, the frequency converter controls the brake to open, and the pod equipment operates.

7. The control method of the pod slewing braking device according to claim 2, characterized in that: The torque limiter is a steel ball torque limiter, which uses a precision spring to control the critical torque.

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