Multi-motor wiring method
By real-time monitoring and adjustment of motor parameters on the hanging wire body, the problem of uneven stress in the prior art is solved, and transportation efficiency and equipment reliability are improved.
Patent Information
- Application Number
- CN202411538659.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-31
- Publication Date
- 2025-02-18
AI Technical Summary
The motor layout of existing hanging wire bodies is difficult to ensure the uniformity of the stress, resulting in low transportation efficiency, high equipment wear rate and high failure rate.
By monitoring the current and power parameters of each motor on the hoisting line in real time, adjusting the number and distribution position of the motors to ensure uniform and stable force.
It improves the basic transmission performance of the suspended wire, reduces the failure rate of the motor and suspended wire, and extends the life of each motor.
Smart Images
Figure CN119475622A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of this specification relate to the technical field of engineering machinery, and in particular to a multi-motor wiring method. Background Art
[0002] The hanging line is a commonly used continuous conveying equipment, which is widely used in factories to transport various finished items and bulk materials in containers or bags. It is also used on the assembly lines of various industrial sectors to transfer workpieces between different processes, complete the process and realize comprehensive mechanized operations. The hanging line mainly includes traction chains, slings and drive devices. The drive device drives the traction chain to move, and then drives the load on the sling to move to different positions. The existing drive device is usually a motor set on the traction chain at equal intervals. With the diversification of transportation needs, the layout of the hanging line is becoming more and more complicated, and the length of the traction chain is getting longer and longer, which requires a higher stability of the entire hanging line equipment. On the one hand, the suspension line receives the driving force of each motor, and on the other hand, it receives the force of the load. Since the traction chain has multiple turns, uphills, downhills, uneven load weights, etc. during transportation, it is difficult to ensure the uniformity of the force on the entire suspension line by motors arranged at equal intervals or according to workers' experience. The output power of each motor is different, and the driving force on the suspension line is different. The sections of the suspension line are easily entangled with each other, affecting the transportation efficiency. Moreover, the different output power of the motors makes it difficult to guarantee the life of individual motors, increasing the wear and failure rate of the equipment. Summary of the invention
[0003] The embodiments of the present specification provide a multi-motor wiring method, aiming to solve one or more of the above problems and other potential problems.
[0004] In order to achieve the above objectives, the following technical solutions are provided: This manual provides a multi-motor wiring method, the method includes: Obtaining the total motor power, motor basic power, motor working current and motor stall current of each motor deployed for the first time; wherein each motor deployed for the first time is deployed on the suspension line with a preset calibrated motor distance and preset electrode parameters, and the motor drives the suspension line to move and thereby drives the object mounted on the suspension line to move; The total motor power and the basic motor power of each motor, as well as the motor working current and the motor stall current are compared respectively; based on the comparison results of each motor, a motor adjustment strategy is determined to complete the second motor layout.
[0005] The motor wiring method in the embodiment of this specification monitors the current and power parameters of each motor on the suspension line in real time, and changes the number of motors on the suspension line and the distribution position of the motors based on the size of the motor power parameters and the size of the motor current parameters, so that the force of the suspension line driven and fixed by the motor is more uniform and stable, the basic transmission performance of the suspension line is greatly improved, and the failure rate of the motor and the suspension line is reduced. In addition, the various parameters of each motor are relatively clear, which is convenient for subsequent precise control and maintenance and debugging of the suspension line system.
[0006] In some embodiments, obtaining the total motor power, motor basic power, motor operating current, and motor stall current of each motor deployed for the first time includes: The total motor power, motor basic power, motor operating current and motor stall current of each motor deployed for the first time in uphill, downhill, straight section and turning scenarios are obtained, wherein the preset calibrated motor distances in different scenarios are different.
[0007] In some embodiments, obtaining the total motor power of each motor deployed for the first time in an uphill, downhill, straight segment, or turning scenario includes: Obtain the motor base power of each motor deployed for the first time in uphill, downhill, straight section, and turning scenarios when the suspension line is unloaded and the motor output power when it is loaded; Based on the motor basic power and the motor output power, the total motor power of each motor deployed for the first time in uphill, downhill, straight section and turning scenarios is determined.
[0008] In some embodiments, obtaining the basic motor power of each motor deployed for the first time in an uphill, downhill, straight segment, or turning scenario includes: Obtain the motor base current and motor voltage of each motor deployed for the first time in uphill, downhill, straight section, and turning scenarios when the suspension wire is unloaded; Based on the motor basic current and the motor voltage, the motor basic power of each motor when the suspension wire is in a no-load state in uphill, downhill, straight section, and turning scenarios is determined.
[0009] In some embodiments, obtaining the motor operating current of each motor deployed for the first time in an uphill, downhill, straight segment, or turning scenario includes: Based on the total motor power and motor voltage of each motor deployed for the first time in the uphill, downhill, straight section and turning scenarios, the motor operating current of each motor deployed for the first time in the uphill, downhill, straight section and turning scenarios is determined.
[0010] In some embodiments, obtaining the motor stall current of each motor deployed for the first time in an uphill, downhill, straight segment, or turning scenario includes: Based on the motor operating currents of the motors deployed for the first time in the uphill, downhill, straight section and turning scenarios, the maximum motor operating current in each scenario is compared and obtained as the current peak value; The motor stall current in each scenario is calculated based on the current peak value: motor stall current=current peak value*120%.
[0011] In some embodiments, the motor adjustment strategy is determined based on the comparison results of each motor, and completing the second motor layout includes: When the total motor power of a certain motor is greater than the basic motor power, and the motor operating current is greater than the motor stall current, an additional motor is installed on the suspension wire adjacent to the motor.
[0012] In some embodiments, adding a motor to a suspension line adjacent to the motor includes: obtaining torque values of motors on two adjacent sides of the motor, comparing the torque values of the motors on two adjacent sides of the motor, and adding a motor to the suspension line on the side with the larger torque value.
[0013] In some embodiments, after adding a motor to the suspension wire adjacent to the motor, the method includes: comparing the motor operating current of the motor before and after the addition, and if the motor operating current remains unchanged, controlling the motor to stop moving.
[0014] In some embodiments, wherein a motor adjustment strategy is determined based on comparison results of each motor, completing the second motor layout also includes: when the total motor power of a certain motor is greater than the motor basic power, and the motor operating current is less than or equal to the motor stall current, increasing the motor stall current.
[0015] In some embodiments, wherein a motor adjustment strategy is determined based on comparison results of each motor, completing the second motor layout also includes: when the total motor power of a certain motor is less than or equal to the motor basic power, and the motor operating current is less than or equal to the motor stall current, reducing the motor basic power. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the embodiments of the present specification will become readily understood. In the accompanying drawings, several embodiments of the present specification are shown by way of example and not limitation.
[0017] Figure 1 A flow chart of a multi-motor wiring method according to an embodiment of this specification is shown; Figure 2 A multi-motor layout diagram of an embodiment of this specification is shown.
[0018] In the various drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION
[0019] The preferred embodiments of the present specification will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present specification are shown in the accompanying drawings, it should be understood that the present specification can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present specification more thorough and complete, and to fully convey the scope of the present specification to those skilled in the art.
[0020] The term "including" and its variations used in this document represent open inclusion, that is, "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one other embodiment". Terms such as "upper", "lower", "front", and "rear" indicating placement or positional relationships are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the principles of this specification, and do not indicate or imply that the referred elements must have a specific orientation, be constructed or operate in a specific orientation, and therefore should not be understood as limitations on this specification.
[0021] In the suspension line system, the suspension line is mainly driven and fixed by various motors arranged on the suspension line, specifically, the motor is clamped on the suspension line so that the rotational motion of the motor is converted into the direct motion of the suspension line. During the movement, the suspension line is mainly affected by the force of the motor clamping the suspension line, the driving force of the motor, and the force of the object mounted on the suspension line on the suspension line. Since the suspension line itself has many turns, uphills and downhills, the load weight on the suspension line often changes. If the distance between each motor is the same, the total output power of each motor to the suspension line will also be different. For example, the total output power of the motor on the downhill section of the suspension line is greater than the total output power of the motor on the uphill section of the suspension line, and the total output power of the motor on the suspension line with a heavier load is greater than the total output power of the motor on the suspension line with a lighter load. At this time, the forces on the sections of the suspension line separated by the motor will also be unbalanced. Therefore, if you want to make the force on the suspension wire more uniform and ensure the stability of the entire suspension wire system, you need to keep the total output power of each motor within a certain range as much as possible. Adding or reducing motors and changing the layout of each motor on the suspension wire is an effective way to change the total output power of the motor. A multi-motor wiring method of an embodiment of this specification is described in detail below with reference to the accompanying drawings. Figure 1 A flowchart of a multi-motor wiring method according to an embodiment of the present specification is shown. The multi-motor wiring method according to an embodiment of the present specification comprises the following steps: S102, obtaining the total motor power, motor basic power, motor working current and motor stall current of each motor arranged for the first time; wherein each motor arranged for the first time is arranged on the suspension line with a preset calibrated motor distance and preset motor parameters, and the motor drives the suspension line to move and thereby drives the object mounted on the suspension line to move; S104, respectively comparing the total motor power and the basic motor power of each motor, as well as the motor operating current and the motor stall current; determining a motor adjustment strategy based on the comparison results of each motor, and completing the second motor layout.
[0022] In step S102, obtaining the total motor power, motor basic power, motor operating current and motor stall current of each motor deployed for the first time includes: The total motor power, motor basic power, motor operating current and motor stall current of each motor deployed for the first time in uphill, downhill, straight section and turning scenarios are obtained, wherein the preset calibrated motor distances in different scenarios are different.
[0023] Specifically, the total motor power of each motor in each scenario is the sum of the motor basic power and the motor output power in each scenario. Among them, the motor basic power is calculated when each motor is in a no-load state on the suspension line. In some examples, the motor basic current and motor voltage of each motor deployed for the first time in uphill, downhill, straight section, and turning scenarios are first obtained when the suspension line is in a no-load state. Afterwards, the motor basic power in each scenario is obtained by multiplying the motor basic current and the motor voltage. Among them, the motor output power is calculated when each motor is in a load state on the suspension line. In some examples, the tension at the suspension line and the motor gear radius are obtained by detection, and the motor output power is obtained by multiplying the two.
[0024] Specifically, the motor working current in each scenario is obtained in the following way: based on the total motor power and motor voltage of each motor deployed for the first time in the uphill, downhill, straight section and turning scenarios, the motor working current of each motor in each scenario can be calculated using the formula: motor working current = total motor power / motor voltage power / voltage.
[0025] Furthermore, the motor stall current of each motor in each scenario is obtained in the following manner: first, based on the motor working current of each motor deployed for the first time in the uphill, downhill, straight section, and turning scenarios, the maximum motor working current in each scenario is compared as the current peak value. Then, the motor stall current in each scenario is calculated based on the current peak value: motor stall current = current peak value * 120%.
[0026] In some embodiments, the above-mentioned scenes can be divided into six major scenes, including a straight line, an uphill slope of 45° and a downhill slope of 45°, a downhill slope of 45° and an uphill slope of 45°, an outer curve of 180°, an outer curve of 90°, and an inner curve of 90°. The motor operating current of each motor on the suspension line in each scene is calculated, and the maximum motor operating current in each scene is selected as the current peak value, and finally the motor stall current in the corresponding scene is determined based on the current peak value.
[0027] Different calibrated motor distances are preset in various scenarios, wherein the calibrated motor distance preset in the downhill scenario is greater than the calibrated motor distance preset in other scenarios.
[0028] The various parameters of the motors can be displayed through a display device, which is convenient for staff to monitor and control in time. In addition, when the motors are arranged, the arrangement distance between the motors is obtained through the displacement sensor on the motors, which reduces the measurement process during arrangement and makes the positional relationship between the motors more intuitive.
[0029] In step S104, when the total motor power of a certain motor is less than or equal to the basic motor power, it means that the motor does not output enough driving force to the suspension wire, or the suspension wire position where the motor is located does not require the motor to work on it. Therefore, it is necessary to move the motor to other positions of the suspension wire to increase the output power of the motor and give full play to the driving function of each motor, specifically, compare the output power of the adjacent motors of the motor, move the motor to the suspension wire on the side of the adjacent motor with large output power by a certain distance, and share the electrical load of the adjacent motor.
[0030] The motor adjustment strategy is determined based on the comparison results of each motor, and the second motor layout is completed, including: when the total motor power of a certain motor is greater than the basic motor power, it means that the motor is working normally on the suspension line, and when the working current of the motor is greater than the motor stall current, it means that the motor is in an overloaded state, and the suspension line where the motor is located needs to add an additional motor to share the load.
[0031] There are several implementation methods for adding a motor to the suspension wire near the motor: In the first implementation, the torque values of the motors on both sides of the motor are also obtained, and the torque values of the motors on both sides of the motor are compared, and a motor is added to the suspension line on the side with the larger torque value. The torque value of the motor = the tension of the suspension line * the radius of the motor gear, which reflects the torsional force of the motor transmitted by the suspension line. The larger the torque value, the greater the tension on the suspension line, and the need to add a motor to the suspension line. The tension of the suspension line is detected by a tension detection device. For example: Figure 2As shown in the figure, the preset speed of the four motors on the suspension line is 13.5 m / min. When the No. 3 motor outputs a force of 3F to the suspension line, and the No. 1, No. 2 and No. 4 motors output a force of 1F, the speed of the No. 3 motor will be lower than 13.5 m / min. At this time, an additional motor can be installed near the No. 3 motor; the output force and speed of the No. 1, No. 2 and No. 3 motors can also be adjusted within a range of 1% to share the output of the No. 3 motor and balance the force on the suspension line. Specifically, the output force of the No. 4 motor in front of the No. 3 motor can be higher than the output force of the No. 1 motor after the No. 3 motor, which is convenient for pulling the No. 3 motor and achieving synchronization between several motors.
[0032] In another embodiment, the motor is moved a certain distance to the suspension line on either side of it, and then an additional motor is added to the suspension line on the other side of the motor, so that the distance between the motor and the newly added motor and the original two adjacent motors is more uniform, thereby further balancing the total output power of each motor.
[0033] In addition, when it is determined in step S104 that the motor working current is greater than the motor stall current, the time during which the motor working current is greater than the motor stall current is also detected. When the time exceeds the stall time, an additional motor is added to the suspension line near the motor to avoid the situation where the motor working current is temporarily increased due to abnormal data, thereby preventing misjudgment.
[0034] The motor working current is too large and the motor stalling may be caused by multiple factors. If the motor working current of the original motor does not change significantly after the motor is added, the situation that the motor working current is too large due to excessive load can be ruled out. The motor may have an internal fault and it is necessary to stop the motor for subsequent maintenance. Therefore, after adding the motor in step S104, the motor working current of the motor before and after the addition is compared. If the motor working current remains unchanged, the motor is controlled to stop.
[0035] When the motors are arranged according to the above method, the initial arrangement position of each motor on the suspension wire can be slightly adjusted based on experience to reduce the subsequent motor adjustment process. For example: the distance between the motor at the bend of the suspension line and the elbow is between 500 mm and 1000 mm. Taking the motor at the elbow as the benchmark, the motors are arranged in sequence at intervals of 15 meters, and the motors of the hanging basket and thicker fabric line are arranged at intervals of 12 meters; a motor is installed every 4 meters in the rising section of the main rail of the hanging basket line, and 4 meters is calculated if it is less than 4 meters; in the downhill section, the motor spacing can be appropriately increased, specifically, when the motor spacing in the downhill section is 15 meters to 20 meters when unloaded; the number of suspension line motors is calculated based on the minimum spacing and rounded, and the motors are marked on the initial motor layout diagram, and the initial positions of each motor are arranged according to the initial motor layout diagram, and then adjusted based on the above method. After the adjustment, in the uphill climbing stage of the suspension line, when multiple elbows turn continuously, 2 elbows are used as a benchmark value, and one more motor is added for each additional elbow. In the case of full load, when the uphill and downhill loads on the suspension line exceed 15kg, additional motors are added between the uphill and downhill. Among them, the motor is preferably arranged behind the elbow to form a pulling rack effect to prevent the rack from getting stuck at the elbow; and the motor is preferably installed on the rising section of the main rail of the suspension line to avoid excessive motor load when heavy objects are transported uphill.
[0036] The motor adjustment strategy is determined based on the comparison results of each motor, and the second motor layout is completed, which also includes: when the total motor power of a certain motor is greater than the basic motor power, and the motor working current is less than or equal to the motor stall current, the motor stall current is increased. Optionally, based on the current peak value, the motor stall current is re-determined to increase the motor stall current. The larger the current peak value, the larger the motor stall current. For example, the floating ratio can be increased from the original 20% to 25% to increase the motor stall current.
[0037] The motor adjustment strategy is determined based on the comparison results of each motor, and the second motor layout is also completed: when the total motor power of a certain motor is less than or equal to the motor basic power, and the motor working current is less than or equal to the motor stall current, the motor basic power is reduced. The motor basic power is the output power of the motor when it is unloaded on the hanging wire, which is related to the motor reducer grease, oil seal, gear matching accuracy, etc. By improving the above situation, the motor basic power can be reduced.
[0038] Although several specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of this specification. Certain features described in the context of separate embodiments may also be implemented in a single implementation in combination. Conversely, various features described in the context of a single implementation may also be implemented in multiple implementations individually or in any suitable sub-combination.
[0039] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.
[0040] The embodiments of the present specification have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.
Claims
1. A multi-motor wiring method, characterized in that: include: Obtaining the total motor power, motor basic power, motor working current and motor stall current of each motor deployed for the first time; wherein each motor deployed for the first time is deployed on the suspension line with a preset calibrated motor distance and preset motor parameters, and the motor drives the suspension line to move and thereby drives the object mounted on the suspension line to move; The total motor power and the basic motor power of each motor, as well as the motor working current and the motor stall current are compared respectively; based on the comparison results of each motor, a motor adjustment strategy is determined to complete the second motor layout.
2. The method according to claim 1, characterized in that Obtaining the total motor power, motor basic power, motor operating current and motor stall current of each motor deployed for the first time includes: The total motor power, motor basic power, motor operating current and motor stall current of each motor deployed for the first time in uphill, downhill, straight section and turning scenarios are obtained, wherein the preset calibrated motor distances in different scenarios are different.
3. The method according to claim 2, characterized in that Obtaining the total motor power of each motor deployed for the first time in uphill, downhill, straight segment, and turning scenarios includes: Obtain the motor base power of each motor deployed for the first time in uphill, downhill, straight section, and turning scenarios when the suspension line is unloaded and the motor output power when it is loaded; Based on the motor basic power and the motor output power, the total motor power of each motor deployed for the first time in uphill, downhill, straight section and turning scenarios is determined.
4. The method according to claim 2 or 3, characterized in that: Obtaining the basic motor power of each motor deployed for the first time in uphill, downhill, straight section, and turning scenarios includes: Obtain the motor base current and motor voltage of each motor deployed for the first time in uphill, downhill, straight section, and turning scenarios when the suspension wire is unloaded; Based on the motor basic current and the motor voltage, the motor basic power of each motor when the suspension wire is in a no-load state in uphill, downhill, straight section, and turning scenarios is determined.
5. The method according to claim 3, characterized in that: Obtaining the motor operating current of each motor deployed for the first time in uphill, downhill, straight section, and turning scenarios includes: Based on the total motor power and motor voltage of each motor deployed for the first time in the uphill, downhill, straight section and turning scenarios, the motor operating current of each motor deployed for the first time in the uphill, downhill, straight section and turning scenarios is determined.
6. The method according to claim 5, characterized in that Obtaining the motor stall current of each motor deployed for the first time in uphill, downhill, straight section, and turning scenarios includes: Based on the motor operating currents of the motors deployed for the first time in the uphill, downhill, straight section and turning scenarios, the maximum motor operating current in each scenario is compared and obtained as the current peak value; The motor stall current in each scenario is calculated based on the current peak value: motor stall current=current peak value*120%.
7. The method according to claim 1, characterized in that The motor adjustment strategy is determined based on the comparison results of each motor, and the second motor layout is completed, including: When the total motor power of a certain motor is greater than the basic motor power, and the motor operating current is greater than the motor stall current, an additional motor is installed on the suspension wire adjacent to the motor.
8. The method according to claim 7, characterized in that Adding a motor to the suspension line adjacent to the motor includes: obtaining torque values of motors on two adjacent sides of the motor, comparing the torque values of the motors on two adjacent sides of the motor, and adding a motor to the suspension line on the side with the larger torque value.
9. The method according to claim 1, characterized in that: The motor adjustment strategy is determined based on the comparison results of each motor, and completing the second motor layout also includes: when the total motor power of a certain motor is greater than the motor basic power, and the motor working current is less than or equal to the motor stall current, increasing the motor stall current.
10. The method according to claim 7 or 9, characterized in that: The motor adjustment strategy is determined based on the comparison results of each motor, and completing the second motor layout also includes: when the total motor power of a certain motor is less than or equal to the motor basic power, and the motor working current is less than or equal to the motor stall current, reducing the motor basic power.