Method and system for protecting a load handling attachment of a lifting device, and a crane

Abstract

The application provides a protection method and system for a grab beam of a hoisting device and a crane. The protection method comprises the following steps: determining a first early warning position of a steel wire rope in the hoisting device according to a first limit position of the grab beam; protecting an upper limit position of the hoisting device according to the first early warning position; determining a second early warning position of the steel wire rope in the hoisting device according to a second limit position of the grab beam; and protecting a lower limit position of the hoisting device according to the second early warning position. The upper and lower limit positions of the hoisting device are protected in the first time by jointly judging the first limit position of the grab beam, the second limit position of the grab beam and the rotation information of the winding drum, the reliability and accuracy of the position information of the grab beam are improved, the hoisting device is prevented from being damaged due to the misjudgment of the control system caused by signal errors to the maximum extent, and the protection method has wide applicability.

Description

Technical Field

[0001] This application relates to the field of power system safety protection design and application technology, and in particular to a method, system and crane for protecting the lifting beam of a lifting device. Background Technology

[0002] Hydropower stations are equipped with specialized lifting equipment such as gantry cranes and bridge cranes. These lifting devices typically feature one or more grab beams connected by a pulley system, wire ropes, and a hoisting drum. A rotary encoder is installed on one side of the drum's shaft. The lifting equipment's control system uses the encoder's rotation signal to predict and determine the grab beam's position. When the encoder signal reaches a preset value, the control system commands the grab beam to stop. However, as the drum rotates, the wire rope's winding and overlapping can cause changes in radius, resulting in variations in the wire rope's lifting and lowering lengths, leading to inaccurate grab beam positioning. Furthermore, the rotary encoder can also experience inaccurate grab beam positioning due to zero-point drift, equipment malfunctions, and other factors.

[0003] It should be noted that the above introduction to the technical background is only for the purpose of providing a clear and complete explanation of the technical solutions of this application and facilitating understanding by those skilled in the art. It should not be assumed that these technical solutions are known to those skilled in the art simply because they have been described in the background section of this application. Summary of the Invention

[0004] This application provides a method, system, and crane for protecting the grab beam of a lifting device.

[0005] The first aspect of this application proposes a method for protecting the grab beam of a lifting device, including:

[0006] Based on the first extreme position of the grab beam, determine the first warning position of the wire rope of the lifting equipment;

[0007] Based on the first warning position, protect the upper limit position of the lifting equipment;

[0008] Based on the second limit position of the grab beam, determine the second warning position of the wire rope of the lifting equipment;

[0009] Based on the second warning position, the lower limit position of the lifting equipment is protected.

[0010] A second aspect of this application provides a protection system for a lifting equipment grab beam, comprising: a first sensor, a second sensor, and a main frame of the lifting equipment, wherein:

[0011] The first sensor is installed on the main frame of the lifting equipment and is used to determine the first warning position of the wire rope in the main frame of the lifting equipment based on the first extreme position of the grab beam, and to issue a corresponding first warning signal.

[0012] The second sensor is installed on the main frame of the lifting equipment and is used to determine the second warning position of the wire rope in the main frame of the lifting equipment based on the second limit position of the grab beam, and to issue a corresponding second warning signal.

[0013] Specifically, the upper limit position of the lifting equipment is protected based on the first warning signal and the rotation information of the drum in the main frame of the lifting equipment; the lower limit position of the lifting equipment is protected based on the second warning signal and the rotation information of the drum in the main frame of the lifting equipment.

[0014] The third aspect of this application provides a crane, including: a protection system for the lifting equipment grab beam as provided in the second aspect of this application.

[0015] A fourth aspect of this application provides a non-transitory computer-readable storage medium that, when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to perform the method proposed in the first aspect of this application.

[0016] A fifth aspect of this application provides a computer program product including a computer program that, when executed by a processor in a communication device, implements the method proposed in the first aspect of this application.

[0017] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects:

[0018] By jointly judging the first and second limit positions of the grab beam and combining the rotation information of the drum, the upper and lower limit positions of the lifting equipment are protected in the first instance. This improves the reliability and accuracy of obtaining the grab beam position information and can prevent damage to the lifting equipment due to misjudgment of the control system caused by signal errors to the greatest extent. It has wide applicability.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0020] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0021] Figure 1 A schematic flowchart illustrating a method for protecting the grab beam of a lifting device, provided in an embodiment of this application;

[0022] Figure 2 This is a schematic diagram of the structure of a protection system for a lifting equipment grab beam provided in an embodiment of this application. Detailed Implementation

[0023] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0024] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of this application. The singular forms “a” and “the” as used in the embodiments of this application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0025] It should be understood that although the terms first, second, third, etc., may be used to describe various information in the embodiments of this application, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the embodiments of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words "if" and "suppose" as used herein can be interpreted as "when," "when," or "in response to a determination."

[0026] Embodiments of this application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0027] It should be noted that the method for protecting the lifting equipment beam provided in any embodiment of this application can be executed alone, or it can be executed together with possible implementation methods in other embodiments, or it can be executed together with any technical solution in related technologies.

[0028] The following description, with reference to the accompanying drawings, describes a method, system, and crane for protecting the lifting equipment's grab beam according to embodiments of this application.

[0029] Figure 1 This is a schematic flowchart illustrating a method for protecting the grab beam of a lifting device, as provided in an embodiment of this application. Figure 1 As shown, the method includes, but is not limited to, the following steps:

[0030] S101, determine the first warning position of the wire rope in the lifting equipment based on the first limit position of the grab beam.

[0031] Optionally, the first position of the drum in the lifting equipment is determined based on the first extreme position of the grab beam;

[0032] Record the first warning position of the wire rope in the lifting equipment based on the first position of the drum in the lifting equipment.

[0033] Existing lifting equipment typically uses rotary encoders, also known as shaft encoders. These encoders convert rotational mechanical displacement into electrical signals, which are then processed to detect position, speed, and other signals. Rotary encoders can be divided into absolute encoders and incremental encoders. Incremental encoders, also called relative encoders, calculate rotational speed and position by detecting pulses, outputting signals related to the rotational shaft's motion. These signals are usually further converted into speed, distance, rotational speed per minute, or position signals by other devices or circuits. Absolute encoders output the position of the rotating shaft and can be considered a type of angle sensor. In gantry cranes, bridge cranes, and other lifting equipment, rotary encoders are usually installed on one side of the drum's shaft. The control system uses the rotational signal from the rotary encoder to infer and determine the position of the grab beam. When the rotary encoder signal reaches a preset value in the control system, the control system commands the grab beam to stop.

[0034] However, as the drum rotates, the overall radius of the drum changes due to the winding and overlapping of the wire rope. This results in variations in the lifting length of the wire rope per revolution, leading to inaccurate positioning of the grab beam by the rotary encoder. Furthermore, the rotary encoder is typically installed on only one side of the drum's shaft, which suffers from low reliability due to zero-point drift. Additionally, vibrations from the lifting equipment can also negatively impact the rotary encoder's positioning.

[0035] If the grabbing beam action exceeds the upper limit of the drum, it may cause the force on the moving pulley block to exceed the design value, resulting in wheel block deformation, motor stalling and damage, and gearbox gear damage. If the grabbing beam action exceeds the lower limit of the drum, the wire rope may jump out of the groove, causing the axle to jam. Therefore, in addition to the rotary encoder, it is necessary to accurately and reliably measure the upper and lower limit positions of the drum and promptly send alarm signals to the control system, so that the control system can stop the grabbing beam action, thereby protecting the upper and lower limit positions of the lifting equipment.

[0036] S102, based on the first warning position, protect the upper limit position of the lifting equipment.

[0037] Optionally, based on the first warning position, the first rotation information corresponding to the drum in the lifting equipment is determined;

[0038] The first warning position information and the first rotation information are jointly judged, and the upper limit position of the lifting equipment is protected according to the judgment result.

[0039] Determine the first warning position of the drum (that is, the upper limit position of the drum), record the position of the last groove of wire rope that the drum retracts upward when the main hoist is in operation, set up a set of warning devices at this position, and transmit the signal of the warning devices to the control system of the hoisting equipment to protect the upper limit position.

[0040] Furthermore, when either the first warning position information or the first rotation information is valid, the lifting equipment stops its grabbing beam action, thereby protecting the upper limit position of the lifting equipment. By incorporating the first warning position information, the reliability and accuracy of obtaining the grabbing beam position information are improved, which can minimize the risk of damage to the lifting equipment due to misjudgment by the control system caused by signal errors.

[0041] S103, based on the second limit position of the grab beam, determine the second warning position of the wire rope in the lifting equipment.

[0042] Optionally, the second position of the drum in the lifting equipment is determined based on the second limit position of the grab beam;

[0043] Record the second warning position of the wire rope in the lifting equipment based on the second position of the lifting equipment drum.

[0044] S104, based on the second warning position, protect the lower limit position of the lifting equipment.

[0045] Optionally, based on the second warning position, the second rotation information corresponding to the hoisting equipment drum is determined;

[0046] The second warning position information and the second rotation information are jointly judged, and the lower limit position of the lifting equipment is protected according to the judgment result.

[0047] Once the second warning position of the drum (i.e., the lower limit position of the drum) is determined, all the wire rope has been released. At the position of the last slot of wire rope released, a set of warning devices is set up. The signal of the warning device is transmitted to the control system of the lifting equipment to protect the lower limit position.

[0048] Furthermore, when either the second warning position information or the second rotation information is valid, the lifting equipment stops its grabbing beam action, thereby protecting the lower limit position of the lifting equipment. By incorporating the second warning position information, the reliability and accuracy of obtaining the grabbing beam position information are improved, which can minimize the risk of damage to the lifting equipment due to misjudgments by the control system caused by signal errors.

[0049] Figure 2 This is a structural schematic diagram of a protection system for a lifting equipment grab beam provided in an embodiment of this application. (See attached diagram.) Figure 2 As shown, the protection system 20 for the lifting equipment's grab beam includes: a first sensor 21, a second sensor 22, and the main frame 23 of the lifting equipment, wherein:

[0050] The first sensor 21 is installed on the main frame 23 of the lifting equipment and is used to determine the first warning position of the wire rope in the main frame 23 of the lifting equipment according to the first limit position of the grab beam and to issue the corresponding first warning signal.

[0051] The second sensor 22 is installed on the main frame 23 of the lifting equipment and is used to determine the second warning position of the wire rope of the main frame 23 of the lifting equipment according to the second limit position of the grab beam, and to issue a corresponding second warning signal.

[0052] Specifically, the upper limit position of the lifting equipment is protected based on the first warning signal and the rotation information of the drum in the main frame 23 of the lifting equipment; the lower limit position of the lifting equipment is protected based on the second warning signal and the rotation information of the drum in the main frame 23 of the lifting equipment.

[0053] Optionally, as an example, both the first sensor 21 and the second sensor 22 include eddy current sensors. It should be noted that the principle of the eddy current sensor is to accurately measure the relative position of the measured object (which must be a metal conductor) and the probe end face through the eddy current effect. The eddy current sensor can measure the distance between the measured metal conductor and the probe surface in a static and dynamic, non-contact, highly linear, and high-resolution manner. It is a non-contact linearized metrological tool. When a metal conductor is within the detection range, the eddy current sensor will emit a high-level (or "valid") signal; when no metal conductor is within the detection range, the signal is a low-level (or "zero") signal.

[0054] When the grab beam approaches its upper limit position, the wire rope is nearly fully retracted onto the drum. At the last slot of wire rope, the distance between the first sensor 21 and the wire rope is adjusted so that after the wire rope is retracted onto the drum, the distance between the wire rope and the first sensor 21 is within the sensing range. This causes the first sensor 21 to send a "valid" signal to the control system. Upon receiving this signal, the control system performs a joint judgment with the rotary encoder signal. If the control system detects either the signal from the first sensor 21 or the signal from the rotary encoder, the control system stops the grab beam action.

[0055] When the grab beam is near its lower limit position, the wire rope has been fully released. At the last slot of wire rope released, the distance between the second sensor 22 and the wire rope is adjusted so that after the wire rope in that slot is released, the distance between the drum and the second sensor 22 exceeds the sensing range. The second sensor 22 sends a "zero" signal to the control system. After receiving this signal, the control system makes a joint judgment with the rotary encoder signal. As long as the control system detects either the signal from the second sensor 22 or the signal from the rotary encoder, the control system stops the grab beam action.

[0056] It should be noted that both the first sensor 21 and the second sensor 22 include, but are not limited to, eddy current sensors, and ultrasonic sensors can also be used. By judging the ultrasonic signals corresponding to when the grab beam is near its upper limit position and near its lower limit position, the movement of the grab beam is controlled. The specific operation process will not be described in detail here.

[0057] This application also provides a crane that includes the protection system for the grab beam of the lifting equipment provided in the above embodiments. Because this crane jointly judges the first and second limit positions of the grab beam and combines this with the rotation information of the drum, it provides immediate protection for the upper and lower limit positions, thereby improving the reliability and accuracy of obtaining the grab beam position information. This system can minimize misjudgments by the control system due to signal errors and has wide applicability.

[0058] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0059] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for protecting the grab beam of a lifting device, characterized in that, include: Based on the first extreme position of the grab beam, determine the first warning position of the wire rope in the lifting equipment; Based on the first warning position, protect the upper limit position of the lifting equipment; Based on the second limit position of the grab beam, determine the second warning position of the wire rope in the lifting equipment; Based on the second warning position, protect the lower limit position of the lifting equipment; The protection of the upper limit position of the lifting equipment based on the first warning position includes: Based on the first warning location, determine the first rotation information corresponding to the drum in the lifting equipment; When either the first warning position information or the first rotation information is valid, the lifting equipment stops its beam-grabbing action to protect the upper limit position of the lifting equipment. The protection of the lower limit position of the lifting equipment based on the second warning position includes: Based on the second warning location, determine the second rotation information corresponding to the hoisting equipment drum; When either the second warning position information or the second rotation information is valid, the lifting equipment stops its beam-grabbing action to protect the lower limit position of the lifting equipment.

2. The method according to claim 1, characterized in that, The determination of the first warning position of the wire rope in the lifting equipment based on the first extreme position of the grab beam includes: Determine the first position of the drum in the lifting equipment based on the first extreme position of the grab beam; Record the first warning position of the wire rope in the lifting equipment based on the first position of the drum in the lifting equipment.

3. The method according to claim 1, characterized in that, The determination of the second warning position of the wire rope in the lifting equipment based on the second extreme position of the grab beam includes: Determine the second position of the drum in the lifting equipment based on the second limit position of the grab beam; Record the second warning position of the wire rope in the lifting equipment based on the second position of the lifting equipment drum.

4. A protection system for the grab beam of a lifting device, characterized in that, include: The first sensor, the second sensor, and the main frame of the lifting equipment, wherein: The first sensor is installed on the main frame of the lifting equipment and is used to determine the first warning position of the wire rope in the main frame of the lifting equipment based on the first extreme position of the grab beam, and to issue a corresponding first warning signal. The second sensor is installed on the main frame of the lifting equipment and is used to determine the second warning position of the wire rope in the main frame of the lifting equipment based on the second limit position of the grab beam, and to issue a corresponding second warning signal. Specifically, the upper limit position of the lifting equipment is protected based on the first warning signal and the rotation information of the drum in the main frame of the lifting equipment; the lower limit position of the lifting equipment is protected based on the second warning signal and the rotation information of the drum in the main frame of the lifting equipment, including: determining the first rotation information corresponding to the drum in the lifting equipment based on the first warning position; When either the first warning position information or the first rotation information is valid, the lifting equipment stops its beam-grabbing action to protect the upper limit position of the lifting equipment. Based on the second warning location, determine the second rotation information corresponding to the hoisting equipment drum; When either the second warning position information or the second rotation information is valid, the lifting equipment stops its beam-grabbing action to protect the lower limit position of the lifting equipment.

5. The protection system for the lifting equipment grab beam according to claim 4, characterized in that, Both the first sensor and the second sensor include eddy current sensors.

6. A crane, characterized in that, The crane includes: a protection system for the lifting equipment grab beam as described in any one of claims 4-5.

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