Proportional braking electric rotary system and control method
Through the combined control of the power-off brake and the power-on brake, the braking shock problem of the electric slewing system is solved, the smooth conversion between dynamic braking and static locking is achieved, and mechanical shock is avoided.
Patent Information
- Application Number
- CN202510889713.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-30
- Publication Date
- 2025-09-16
AI Technical Summary
Existing electric slewing systems have difficulty achieving dynamic braking during braking and are prone to braking shock. Traditional power-off electromagnetic brakes are difficult to effectively avoid mechanical shock.
A combination of power-off brake and energized brake is adopted. The energized brake provides dynamic braking force, while the power-off brake provides static locking. The controller coordinates the power-on status of the two to achieve smooth braking.
Prevent impact during electric swing braking, smoothly decelerate through dynamic braking force, and achieve static locking after braking to avoid mechanical impact.
Smart Images
Figure CN120658139A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of proportional braking electric swing, and in particular to a proportional braking electric swing system and a control method. Background Art
[0002] Existing hydraulic slewing systems for cranes utilize multi-plate wet brakes, but electric slewing systems eliminate the hydraulic element, making multi-plate wet brakes unsuitable for electric slewing systems. Currently, electric slewing systems typically utilize a motor + deenergized electromagnetic brake to achieve power-off braking. The drive motor first decelerates to zero speed, and then the deenergized brake applies the brake. However, the deenergized electromagnetic brake operates as a switch, providing a static locking function. This makes dynamic braking difficult and prone to brake shock. Summary of the Invention
[0003] The purpose of the present invention is to provide a proportional braking electric swing system and control method, in which, during the dynamic process of electric swing braking, a dynamic braking force is provided by an energized brake to prevent the electric swing from generating impact when the braking stops, and a static locking is achieved after the electric swing braking by a de-energized brake.
[0004] In a first aspect, the present invention provides a proportional braking electric swing system comprising: Electric rotation, A driver, comprising a drive motor, the drive motor being connected to the electric rotary transmission via a speed reducer; The power-off brake and the power-on brake are connected in series between the drive motor and the reducer; the power-off brake releases the brake when the power is on, and the power-on brake releases the brake when the power is off; The controller is configured to control the energized states of the power-off brake and the energized brake to achieve dynamic braking of the electric swing.
[0005] Optionally, the power-off brake provides braking force when power is lost and releases the brake when power is restored; the energized brake provides braking force when power is restored and releases the brake when power is lost.
[0006] Optionally, the energized brake is controlled by voltage PWM to provide different braking torques.
[0007] Optionally, the electric brake is controlled by an electric control handle.
[0008] Optionally, the electric slewing is mounted on a slewing bearing.
[0009] Optionally, it also includes: The torque limiter is used to collect the load force of the electric rotation and send it to the controller, and the controller is used to determine the target braking force of the electric brake according to the load force.
[0010] Optionally, it also includes: The electric control handle is used to send an action instruction to the controller, and the controller is used to control the driver according to the action instruction.
[0011] Optionally, the electric rotation is also used to send a speed signal to the controller, and the controller is used to control the electric brake according to the speed signal during electric rotation braking.
[0012] Optionally, it also includes: A power supply is electrically connected to the driver, and the power supply is used to output electric energy when the driver is driving, and to recover electric energy when the driver is braking.
[0013] In a second aspect, the present invention provides a control method for a proportional braking electric swing system, which is implemented based on the proportional braking electric swing system, wherein the brake includes an energized brake and a de-energized brake, and the control method includes: Before the electric swing starts braking, the power-off brake remains energized and the energized brake remains de-energized; In response to the braking instruction of the electric rotation, the driving motor decelerates by self-braking and determines the target braking force of the electric brake according to the load force of the electric rotation; In response to the rotation speed of the drive motor decreasing to a set value, energizing the powered brake and increasing the braking force of the powered brake according to a preset rule until a target braking force is reached; When the speed of the drive motor decreases to zero and the drive motor stops outputting driving force, the energized brake continues to be energized to provide a braking force to keep the load stationary; When the drive motor stops outputting the driving force and the energized brake continues to be energized, the de-energized brake is de-energized to provide the locking braking force required to keep the load stationary, and then the energized brake is de-energized to release the brake.
[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. In the dynamic process of electric swing braking, the present invention provides dynamic braking force through the energized brake to prevent the electric swing from generating impact when braking to a stop, and realizes static locking after the electric swing braking through the de-energized brake.
[0015] 2. During the braking process, the present invention gradually increases the braking force through the energized brake to achieve dynamic deceleration of the drive motor. After the drive motor decelerates to zero and stops outputting torque, the braking force provided by the energized brake first keeps the load stationary, and then the de-energized brake takes over the locking. The energized brake is de-energized to release the brake, thereby ensuring smooth deceleration of the drive motor while effectively avoiding the impact vibration caused by the instantaneous locking of the mechanical brake in the traditional solution. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 This is a block diagram of the proportional braking electric swing system in Example 1; Figure 2 Schematic diagram of the structure of the proportional braking electric rotary system in Example 1; Figure 3 is a flow chart of the control method in Example 2; Figure 4 This is a flow chart of the control method in Example 3.
[0017] Numbers in the figure: 1, driving motor, 2, power-off brake, 3, power-on brake, 4, reducer, 5, slewing bearing. DETAILED DESCRIPTION
[0018] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more. In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.
[0019] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention. Example 1
[0020] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.
[0021] This embodiment provides a proportional braking electric swing system, comprising an electric swing, a driver, a power-off brake 2, an energized brake 3, and a controller. The electric swing is mounted on a slewing support 5. The driver includes a drive motor 1, which is transmission-connected to the electric swing via a reducer 4. The power-off brake 2 and the energized brake 3 are connected in series between the drive motor 1 and the reducer 4. The energized brake 3 and the power-off brake 2 can be integrated or independently arranged at the motor end or elsewhere in the transmission chain. The power-off brake 2 releases the brake when energized, and the energized brake 3 releases the brake when energized. The power-off brake 2 allows the electric swing to be locked at any position. The energized brake 3 can achieve proportional braking by achieving different braking torques through voltage PWM control. In another specific embodiment, the energized brake 3 can also be controlled by an electric control handle. The controller is configured to control the energization status of the power-off brake 2 and the energized brake 3 to achieve dynamic braking of the electric swing. This embodiment uses a dual-brake structure: a power-off brake 2 and an energized brake 3. Power-off brake 2 provides power-off locking of the slewing system. Energized brake 3 provides proportional braking, preventing shock during electric slewing start and stop.
[0022] Furthermore, the slewing system also includes a torque limiter, an electric control handle, and a power supply. The torque limiter is used to collect the load force of the electric slewing and send it to the controller, and the controller is used to determine the target braking force of the electric brake 3 based on the load force. The electric control handle is used to send an action instruction to the controller, and the controller is used to control the driver to drive the electric slewing to perform a corresponding action according to the action instruction. The electric slewing is also used to send a speed signal to the controller, and the controller is used to control the electric brake 3 according to the speed signal when the electric slewing brakes; the power supply is electrically connected to the driver, and the power supply is used to output electric energy when the driver is driving, and to recover electric energy when the driver is braking. Example 2
[0023] This embodiment provides a control method for a proportional braking electric swing system, which is implemented based on the proportional braking electric swing system described in the embodiment. The control method includes: in response to a braking command from the electric swing, the electric swing begins braking, the drive motor 1 brakes and decelerates automatically (the brake does not intervene at this stage), and when the speed of the drive motor 1 is less than a set value (which can be understood as a safe value, at which point brake intervention will not produce a significant impact), the energized brake 3 begins to energize and gradually increases the braking force until the target braking force is reached. During the process of increasing the braking force of the energized brake 3, the electric swing is able to steadily decelerate under the action of the dynamic braking force until the electric swing decelerates to zero and stops outputting driving force. At this time, the braking force of the energized brake 3 holds the load stationary. Then, the de-energized brake 2 is de-energized to provide the braking force to hold the load stationary, and the energized brake 3 is de-energized to release the brake, thus completing the entire braking process. During the entire process, not only can the drive motor 1 decelerate smoothly under dynamic braking force, but after the speed of the drive motor 1 drops to zero, the braking force provided by the energized brake 3 can also replace the driving force of the drive motor 1 to keep the load stationary. Finally, the energized braking force is replaced by the de-energized brake 2 to keep the load stationary, thereby ensuring load stability while braking smoothly to avoid impact.
[0024] Specifically, the braking control process of this embodiment includes multiple stages. The first stage is when the drive motor 1 decelerates through self-braking. This stage is mainly to consider that direct brake intervention at high speed of the drive motor 1 is likely to cause impact. In this stage, the power-off brake 2 remains energized and the energized brake 3 remains deenergized. The second stage is after the drive motor 1 decelerates to a specified value, the energized brake 3 is energized and begins to intervene in braking, while the power-off brake 2 remains energized. As the braking force of the energized brake 3 gradually increases, the drive motor 1 is dynamically and smoothly braked. The third stage is after the drive motor 1 decelerates to a stop. At this time, the braking force of the energized brake 3 has increased to a target braking force that matches the load. It can continue to hold the load stationary after the drive motor 1 stops outputting the driving torque, effectively avoiding braking impact. The fourth stage is the static locking stage after braking is completed. The power-off brake 2 is deenergized to provide braking force to hold the load stationary. Subsequently, the energized brake 3 is deenergized to end the braking control. The above method can ensure smooth braking while keeping the load stationary at all stages, thereby effectively avoiding mechanical impact caused by electric swing braking. Example 3
[0025] This embodiment provides a control method for a proportional braking electric swing system, which is implemented based on the proportional braking electric swing system described in Example 1. The control method includes: in response to a start command for electric swing, starting the electric swing; determining a target braking force of the electric brake 3 based on the load force collected by the torque limiter; energizing the electric brake 3 and increasing the braking force of the electric brake 3 according to a preset rule until the target braking force is reached; in response to the braking force of the electric brake 3 reaching the target braking force, energizing the de-energized brake 2 to release the brake, at which time the load is kept stationary by the braking force provided by the electric brake 3; then starting the drive motor 1, which begins to output torque; and when the driving force of the drive motor 1 exceeds the target braking force of the electric brake 3, the electric brake 3 gradually reduces the braking force according to a preset strategy. When the driving force of the drive motor 1 exceeds the load force, the electric brake 3 is de-energized to release the brake, and the drive motor 1 can then drive the load to work. By controlling the energized state of the energized brake 3 and the de-energized brake 2 , it is possible to ensure that the drive motor 1 can start smoothly and drive the load to work, and to avoid impact.
[0026] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.
Claims
1. A proportional braking electric rotary system, characterized in that: include: Electric rotation, A driver, comprising a drive motor, the drive motor being connected to the electric rotary transmission via a speed reducer; The power-off brake and the power-on brake are connected in series between the drive motor and the reducer; the power-off brake releases the brake when the power is on, and the power-on brake releases the brake when the power is off; The controller is configured to control the energized states of the power-off brake and the energized brake to achieve dynamic braking of the electric swing.
2. The proportional brake electric rotary system according to claim 1, characterized in that: The power-off brake provides braking force when power is lost and releases the brake when power is restored; the energized brake provides braking force when power is restored and releases the brake when power is lost.
3. The proportional braking electric rotary system according to claim 1, characterized in that: The energized brake is controlled by voltage PWM to provide different braking torques.
4. The proportional braking electric rotary system according to claim 1, characterized in that: The electric brake is controlled by an electric control handle.
5. The proportional braking electric rotary system according to claim 1, characterized in that: The electric slewing is installed on the slewing support.
6. The proportional braking electric rotary system according to claim 1, characterized in that: Also includes: The torque limiter is used to collect the load force of the electric rotation and send it to the controller, and the controller is used to determine the target braking force of the electric brake according to the load force.
7. The proportional brake electric rotary system according to claim 1, characterized in that: Also includes: The electric control handle is used to send an action instruction to the controller, and the controller is used to control the driver according to the action instruction.
8. The proportional braking electric rotary system according to claim 1, characterized in that: The electric rotation is also used to send a speed signal to the controller, and the controller is used to control the electric brake according to the speed signal during electric rotation braking.
9. The proportional braking electric rotary system according to claim 1, characterized in that: Also includes: A power supply is electrically connected to the driver, and the power supply is used to output electric energy when the driver is driving, and to recover electric energy when the driver is braking.
10. A control method for a proportional braking electric swing system, characterized in that: The proportional braking electric swing system according to any one of claims 1 to 9 is implemented, wherein the brake includes an energized brake and a de-energized brake, and the control method includes: Before the electric swing starts braking, the power-off brake remains energized and the energized brake remains de-energized; In response to the braking instruction of the electric rotation, the driving motor decelerates by self-braking and determines the target braking force of the electric brake according to the load force of the electric rotation; In response to the rotation speed of the drive motor decreasing to a set value, energizing the powered brake and increasing the braking force of the powered brake according to a preset rule until a target braking force is reached; When the speed of the drive motor decreases to zero and the drive motor stops outputting driving force, the energized brake continues to be energized to provide a braking force to keep the load stationary; When the drive motor stops outputting the driving force and the energized brake continues to be energized, the de-energized brake is de-energized to provide the locking braking force required to keep the load stationary, and then the energized brake is de-energized to release the brake.