Multi-winch synchronous control system and control method

Abstract

The invention relates to a multi-winch synchronous control system and method, the control system comprises a control mechanism, a detection mechanism and at least two winches, and the outer ends of pull ropes of the winches are connected with a protective net through guide wheels; the detection mechanism comprises connecting discs, the two connecting discs are rotatably installed on the two sides of the guide wheel respectively, an installation plate is arranged between the two connecting discs, a limiting mechanism is installed at the end, close to the protective net, of the installation plate, the pull rope penetrates through the limiting mechanism to enable the installation plate to be parallel to the pull rope, and an inclination angle detection sensor is installed on the installation plate. The installation plate capable of rotating around the axis of the guide wheel is installed at the guide wheel, the installation plate is parallel to the pull rope through the limiting mechanism, the dip angle of the pull rope can be measured through the dip angle detection sensor on the installation plate, synchronous control over the winches is achieved by comparing the dip angles of the pull ropes of the winches, and the stress uniformity of the protective net is guaranteed; and the protection performance and the service life of the protection net are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of synchronous control, in particular to a multi-winch synchronous control system and a control method. BACKGROUND

[0002] The high-rise construction safety protection net has become one of the essential safety equipment in the power tower construction, and correct use and effective arrangement of the high-rise construction safety protection net can significantly reduce the occurrence rate of high-altitude falling accidents, protect the personal safety of the construction personnel, and ensure the normal progress of the construction progress. Due to the limited area of the offshore platform, the traditional vertical rod netting method is difficult to implement, and the tensioning and loosening of the pull rope controlled by the winch can accurately adjust the opening size of the protection net and adapt to different construction requirements.

[0003] Due to the large area and large weight of the protection net, there is a certain risk in lifting by a single rope, so multiple winches are needed to control multiple main and auxiliary ropes to share the weight of the protection net. At present, the synchronization of the multi-winch system is controlled by detecting the speed of the winch drum through the encoder, however, due to the winding of multiple layers of pull ropes on the drum, the winding and unwinding process of the winch is complex, which is easy to cause error accumulation and affect the synchronization between the multiple winches, resulting in uneven force on the protection net and affecting the protection effect and service life of the protection net.

[0004] Based on the above technical problems, the present application provides a multi-winch synchronous control system and a control method. SUMMARY

[0005] The purpose of the present application is to provide a multi-winch synchronous control system and a control method to solve the technical problems mentioned in the background art, and the purpose of the present application is achieved by the following technical solutions: A multi-winch synchronous control system, comprising a control mechanism, a detection mechanism and at least two winches, the winch comprising a drum and a driving mechanism, the driving mechanism being electrically connected with the control mechanism, the driving mechanism being in transmission connection with the drum, and the control mechanism controlling the driving mechanism to drive the drum to rotate; a pull rope is wound on the drum, the outer end of the pull rope passes through a guide wheel and is connected with a protection net, and the detection mechanism is installed at the guide wheel; the detection mechanism comprises a connecting disc, the connecting disc is coaxially arranged with the guide wheel, two connecting discs are rotatably installed on both sides of the guide wheel, an installation plate is arranged between the two connecting discs, the installation plate is tangentially arranged with the connecting disc, and one end of the installation plate extends toward one side of the protection net; a limiting mechanism is installed at the end of the installation plate close to the protection net, the pull rope passes through the limiting mechanism to make the installation plate parallel to the pull rope, an inclination detection sensor is installed on the installation plate, and the inclination detection sensor is electrically connected with the control mechanism.

[0006] Further, the guide wheel comprises a guide bracket and a guide wheel body, the guide bracket comprises a bottom plate and two vertical plates, the two vertical plates are arranged on the bottom plate in parallel, a fixed shaft is horizontally arranged between the two vertical plates, the guide wheel body is rotationally connected with the fixed shaft through a bearing, and two connecting discs are respectively installed on two ends of the fixed shaft through rotary dampers.

[0007] Further, the limiting mechanism comprises a limiting portion and a pressing portion, the limiting portion comprises a limiting wheel, and the limiting wheel is rotationally installed on the mounting plate; the pressing portion comprises a pressing bracket and a pressing wheel, one end of the pressing bracket is pivotally connected with the mounting plate, the pressing wheel is rotationally installed on the other end of the pressing bracket, and a torsion spring is arranged between the pressing bracket and the mounting plate, and the torsion spring presses the pressing wheel towards the limiting wheel.

[0008] Further, a limiting groove is arranged in the circumferential direction of the limiting wheel, and the pressing wheel presses the pull rope in the limiting groove.

[0009] Further, anti-skid lines are arranged in the circumferential direction of the limiting wheel and the pressing wheel.

[0010] Further, a rotary encoder is arranged on one side of the limiting wheel, and the rotary encoder is electrically connected with the control mechanism.

[0011] Further, a power generation mechanism is arranged on one side of the pressing wheel, the power generation mechanism comprises a micro generator and an energy storage battery, an input shaft of the micro generator is fixedly connected with the pressing wheel, an output end of the micro generator is electrically connected with the energy storage battery, and the energy storage battery is electrically connected with the inclination detection sensor.

[0012] A synchronization control method using any one of the above multi-winch synchronization control systems, comprising the following steps: Step S1, setting any winch as a main winch, and the remaining winches as auxiliary winches; Step S2, obtaining the inclination of the pull rope between the guide wheel corresponding to the main winch and the protective net and the inclination of the pull rope between the guide wheel corresponding to the auxiliary winch and the protective net , calculating the difference between the inclination of the pull rope between the guide wheel corresponding to the main winch and the protective net and the inclination of the pull rope between the guide wheel corresponding to each auxiliary winch and the protective net , and the absolute value of the difference : Step S3, setting a synchronization starting threshold A and a synchronization alarm threshold B, and A < B; If <A, the speed of the corresponding auxiliary winch is kept unchanged; If A <B, and ​​> 0, then increase the speed of the corresponding auxiliary winch until <A; If A< <B,且 <0, reduce the speed of the corresponding auxiliary winch until <A; like >B, the main winch and auxiliary winch will stop and send out an alarm signal.

[0013] The technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. By installing a mounting plate that can rotate around the axis of the guide wheel on the guide wheel, and using a limit mechanism to make the mounting plate parallel to the rope, the inclination of the rope can be measured by the inclination detection sensor on the mounting plate. By comparing the inclination of the ropes of each winch, synchronous control of multiple winches is achieved, avoiding the impact of encoder cumulative error on the accuracy of synchronous control, ensuring the uniformity of the force applied to the protective net, and ensuring the protective performance and service life of the protective net; 2. The connection between the detection mechanism and the guide wheel is achieved through a rotary damper, which can reduce the impact of the rope swing on the detection mechanism, improve the seismic performance of the inclination detection sensor, and improve the detection accuracy of the inclination detection sensor; 3. By installing a rotary encoder at the limit wheel, the length and speed of the rope passing through the limit wheel can be detected, realizing closed-loop control of the speed of each winch and improving the accuracy of synchronous control; 4. By installing a power generation mechanism at the pinch wheel, the pull rope drives the power generation mechanism through the pinch wheel when the winch is retracted or unreeled, thereby powering the inclination detection sensor, extending the life of the detection mechanism and reducing the number of maintenance times of the detection mechanism; 5. By setting the synchronous adjustment threshold, when the difference between the inclination angle of the auxiliary winch rope and the inclination angle of the main winch rope is lower than the synchronous adjustment threshold, no adjustment will be performed, thereby reducing the adjustment frequency of the winch and improving the stability of the multi-winch operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application; Figure 2 This is a schematic diagram of the guide wheel structure of an embodiment of the present application; Figure 3 This is a schematic diagram of the detection mechanism structure of the embodiment of the present application; Figure 4 This is a schematic diagram of the connection between the detection mechanism and the guide wheel in an embodiment of the present application.

[0016] Figure numerals: 1. Power tower; 2. Outer protective net; 3. Detection mechanism; 31. Connecting plate; 32. Rotary damper; 33. Mounting plate; 34. Limiting wheel; 35. Clamping bracket; 36. Clamping wheel; 4. Guide wheel; 41. Guide bracket; 411. Bottom plate; 412. Vertical plate; 413. Fixed shaft; 42. Guide wheel body; 5. Winch; 6. Pull rope; 7. Inclination detection sensor; 8. Rotary encoder; 9. Power generation mechanism. DETAILED DESCRIPTION

[0017] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0018] Example 1 like Figure 1 The multi-hoist synchronization control system shown includes a control mechanism (not shown), a detection mechanism 3, a guide wheel 4, and four hoists 5. These hoists are used to adjust the degree of expansion of the outer protective net 2 of a power tower 1. The outer protective net 2 is in the shape of a U-shaped triangle, and the inner ring of the outer protective net 2 is fixed to the power tower 1. The four hoists 5 are mounted at the four corners of the power tower 1, and the four guide wheels 4 are mounted on extension lines extending outward from the four corners of the power tower 1.

[0019] The hoist 5 includes a drum and a drive mechanism. The drive mechanism can be an electric motor or a hydraulic motor. The drive mechanism is connected to the drum via a transmission mechanism to drive the drum to rotate. The control circuit of the drive mechanism is electrically connected to the control mechanism via wires. The control mechanism controls the operation of the drive mechanism to achieve forward and reverse rotation of the drum and adjust the rotation speed.

[0020] A pull rope 6 is wound around the drum, and the outer end of the pull rope 6 is connected to a corner of the outer protective net 2 through a guide wheel 4. When the winch 5 is reeled in, the outer protective net 2 is spread out, increasing the protection area of ​​the outer protective net 2. When the winch 5 is unreeled, the outer protective net 2 sags under the action of gravity, reducing the protection area of ​​the outer protective net 2.

[0021] like Figure 2As shown, the guide wheel 4 comprises a guide bracket 41 and a guide wheel body 42, the guide bracket 41 is fixed on the periphery of the power tower 1 by expansion bolts or chemical anchors, the guide bracket 41 comprises a bottom plate 411 and two vertical plates 412, the two vertical plates 412 are welded and fixed on the bottom plate 411, and the two vertical plates 412 are parallel to each other, a fixed shaft 413 is horizontally installed between the two vertical plates 412, and both ends of the fixed shaft 413 extend out of the outer end faces of the vertical plates 412. The guide wheel body 42 is connected with the fixed shaft 413 through a bearing, so that the guide wheel body 42 can rotate around the fixed shaft 413. The circumferential surface of the guide wheel body 42 is provided with a guide groove arranged around the guide wheel body 42, and the pull rope 6 is wound around the guide wheel body 42 from bottom to top, so as to change the direction of the pull rope 6.

[0022] As shown in Figure 3 , Figure 4 , the detection mechanism 3 comprises a connecting disc 31 coaxially arranged with the guide wheel body 42, and the two connecting discs 31 are respectively installed on both ends of the fixed shaft 413 through rotary dampers 32, so that the two connecting discs 31 can rotate around the axis of the guide wheel 4.

[0023] A mounting plate 33 is fixed between the two connecting discs 31, the mounting plate 33 is a long strip-shaped rectangular plate, the lower end of the mounting plate 33 is tangent to the connecting disc 31, and the upper end of the mounting plate 33 faces the side of the outer protective net 2. Preferably, the outer diameter of the connecting disc 31 is slightly larger than the sum of the outer diameter of the guide wheel body 42 and the outer diameter of the pull rope 6, so that the lower end face of the mounting plate 33 is close to but does not contact the pull rope 6.

[0024] The upper end face of the mounting plate 33 is installed with an inclination detection sensor 7, the inclination detection sensor 7 is electrically connected with the control mechanism, and is used for transmitting the measured inclination data to the control mechanism. A limiting mechanism is installed on the upper end of the mounting plate 33, the limiting mechanism comprises a limiting part and a pressing part, the limiting part comprises a limiting wheel 34, the limiting wheel 34 is rotatably installed on the upper end face of the mounting plate 33 through a bearing seat, the mounting plate 33 is provided with a avoiding hole at the position of the limiting wheel 34, and the limiting wheel 34 extends to the lower end face of the mounting plate 33 through the avoiding hole.

[0025] The pressing part comprises a pressing bracket 35 and a pressing wheel 36, one end of the pressing bracket 35 is pivotally connected with the lower end face of the mounting plate 33, and the pressing wheel 36 is rotatably installed on the other end of the pressing bracket 35. A torsion spring (not shown) is installed between the pressing bracket 35 and the mounting plate 33, and the torsion spring presses the pressing wheel 36 towards the limiting wheel 34. The circumferential surface of the limiting wheel 34 is provided with a limiting groove around the limiting wheel 34, and the pull rope 6 passes through the limiting groove, and the pressing wheel 36 presses the pull rope 6 in the limiting groove. The distance of the limiting wheel 34 extending downward is adjusted through a gasket, so as to realize the distance between the lower end face of the upper part of the mounting plate 33 and the pull rope 6, make the mounting plate 33 parallel to the pull rope 6, and then make the inclination angle of the mounting plate 33 equal to the inclination angle of the pull rope 6, and improve the accuracy of the inclination detection sensor 7.

[0026] Preferably, the limiting groove of the limiting wheel 34 and the outer periphery of the pressing wheel 36 are both arranged with anti-skid lines to avoid the limiting wheel 34 and the pressing wheel 36 from sliding relative to the pull rope 6.

[0027] By installing the mounting plate rotatable around the axis of the guide wheel at the guide wheel and making the mounting plate parallel to the pull rope through the limiting mechanism, the inclination angle of the pull rope can be measured through the inclination angle detection sensor on the mounting plate, the synchronization control of multiple winches is realized by comparing the inclination angles of the pull ropes of the winches, the cumulative error of the encoder affecting the precision of the synchronization control is avoided, the uniformity of the force of the protective net is ensured, and the protection performance and service life of the protective net are ensured.

[0028] The connection of the detection mechanism and the guide wheel is realized through the rotary damper, which can reduce the influence of the swing of the pull rope on the detection mechanism, improve the anti-shock performance of the inclination angle detection sensor, and improve the detection precision of the inclination angle detection sensor.

[0029] As shown in Figure 3 , Figure 4 , a rotary encoder 8 is installed on one side of the limiting wheel 34, and the rotary encoder 8 is electrically connected with the control mechanism. The rotary encoder 8 monitors the length and speed of the winding and unwinding of the pull rope 6 by detecting the number of rotations and the rotation speed of the limiting wheel 34, which can realize the closed-loop control of the speed of each winch 5 and improve the precision of the synchronization control. On the other hand, the rotary encoder 8 is installed at the limiting wheel 34, and since the pull rope 6 does not have a winding condition, compared with the installation at the winch, the accuracy of the detection of the conveying length and speed of the pull rope 6 can be improved.

[0030] As shown in Figure 3 , Figure 4 , a power generation mechanism 9 is installed on one side of the pressing wheel 36, and the power generation mechanism 9 includes a micro generator and an energy storage battery. The input shaft of the micro generator is fixedly connected with the pressing wheel, the output end of the micro generator is electrically connected with the energy storage battery, and the energy storage battery is electrically connected with the inclination angle detection sensor 7 and the rotary encoder 8.

[0031] When the winch 5 winds or unwinds, the pull rope 6 passes between the limiting wheel 34 and the pressing wheel 36, drives the pressing wheel 36 to rotate, and in turn drives the micro generator to rotate and generate electricity, and stores the generated electricity in the energy storage battery, which realizes the power supply for the inclination angle detection sensor 7 and the rotary encoder 8, reduces the frequency of replacing the battery of the inclination angle detection sensor 7, prolongs the endurance time of the detection mechanism, reduces the maintenance frequency of the detection mechanism, and reduces the working intensity of the staff.

[0032] Embodiment 2 A synchronization control method using the multi-winch synchronization control system of embodiment 1, comprising the following steps: Step S1, set any winch as the main winch, and the other three winches as auxiliary winches; Step S2, obtain the inclination angle of the pull rope between the guide wheel corresponding to the main winch and the protective net through the inclination detection sensor 7 and the inclination angle of the pull rope between the guide wheel corresponding to the three auxiliary winches and the protective net , respectively calculate the difference between the inclination angle of the pull rope between the guide wheel corresponding to the main winch and the protective net and the inclination angle of the pull rope between the guide wheel corresponding to the three auxiliary winches and the protective net , and the absolute value of the difference , and the absolute value of the difference : Among them, respectively refer to auxiliary winch 1, auxiliary winch 2 and auxiliary winch 3.

[0033] Step S3, set the synchronous starting adjustment threshold A and the synchronous alarm threshold B, and A < B; If <A, the speed of the corresponding auxiliary winch is kept unchanged; at this time, although there is a deviation in the inclination angle of the pull rope 6 corresponding to each winch 5, it does not affect the uniformity of the overall stress of the protective net, so no adjustment is made at this time to reduce the adjustment frequency of the winch and improve the stability of the multi-winch operation.

[0034] If A <B, and > 0, at this time the pull rope angle corresponding to the auxiliary winch is smaller than that of the main winch, that is, the winding speed of the corresponding auxiliary winch is too small, and the speed of the corresponding auxiliary winch needs to be increased until <A; If A <B, and <0, at this time the pull rope angle corresponding to the auxiliary winch is larger than that of the main winch, that is, the winding speed of the corresponding auxiliary winch is too large, and the speed of the corresponding auxiliary winch needs to be reduced until <A; If >B, at this time the speed error of the main winch and the auxiliary winch is large, and continued operation will cause wear and even breakage of the pull rope. Therefore, the control mechanism controls the main winch and the auxiliary winch to stop, and an alarm signal is sent.

[0035] ​The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application in any form. Although the present application has been disclosed with the preferred embodiments as above, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content to obtain equivalent embodiments with equivalent changes, as long as the changes or modifications do not deviate from the technical solution of the present application. Any modification, change, equivalent change and modification of the above embodiments made according to the technical essence of the present application still belong to the scope of the technical solution of the present application.

Claims

1. A multi-winch synchronous control system, characterized in that: The sprocket wheel is connected to the control wheel of the vehicle frame by means of a pinion, and the sprocket wheel is connected to the control wheel of the vehicle frame by means of a pinion. The sprocket wheel is connected to the control wheel of the vehicle frame by means of a pinion. The sprocket wheel is connected to the control wheel of the vehicle frame by means of a pinion.

2. A multi-hoist synchronous control system according to claim 1, characterized in that: The guide wheel includes a guide bracket and a guide wheel body. The guide bracket includes a base plate and a vertical plate. The two vertical plates are arranged parallel to the base plate. A fixed shaft is horizontally arranged between the two vertical plates. The guide wheel body is rotatably connected to the fixed shaft through a bearing. The two connecting plates are respectively installed at both ends of the fixed shaft through rotation dampers.

3. A multi-hoist synchronous control system according to claim 1, characterized in that: The limiting mechanism includes a limiting part and a pressing part, the limiting part includes a limiting wheel, and the limiting wheel is rotatably mounted on the mounting plate; the pressing part includes a pressing bracket and a pressing wheel, one end of the pressing bracket is pivotally connected to the mounting plate, and the pressing wheel is rotatably mounted on the other end of the pressing bracket, and a torsion spring is provided between the pressing bracket and the mounting plate, and the torsion spring presses the pressing wheel toward the limiting wheel.

4. A multi-hoist synchronous control system according to claim 3, characterized in that: A limiting groove is provided on the circumference of the limiting wheel, and the pressing wheel presses the pull rope into the limiting groove.

5. The multi-hoist synchronous control system according to claim 3, characterized in that: The circumferences of the limiting wheel and the pressing wheel are both provided with anti-slip grooves.

6. A multi-hoist synchronous control system according to claim 3, characterized in that: A rotary encoder is provided on one side of the limiting wheel, and the rotary encoder is electrically connected to the control mechanism.

7. The multi-hoist synchronous control system according to claim 3, characterized in that: A power generation mechanism is provided on one side of the pressure wheel, and the power generation mechanism includes a micro generator and an energy storage battery. The input shaft of the micro generator is fixedly connected to the pressure wheel, the output end of the micro generator is electrically connected to the energy storage battery, and the energy storage battery is electrically connected to the inclination detection sensor.

8. A synchronous control method using any one of claims 1 to 7 of the multi-hoist synchronous control system, characterized in that: The following steps are involved: Step S1, setting any one hoist as the main hoist and the other hoists as auxiliary hoists; Step S2: Obtain the inclination angle of the pull rope between the guide wheel corresponding to the main winch and the protective net and the inclination angle of the pull rope between the guide wheel corresponding to the auxiliary winch and the protective net , calculate the inclination angle of the rope between the guide wheel corresponding to the main winch and the protective net The inclination angle of the pull rope between the guide wheel and the protective net corresponding to each auxiliary winch The difference , and the difference The absolute value of : Step S3: Set the synchronous start threshold A and the synchronous alarm threshold B, and A <B ; If <A, keep the speed of the corresponding auxiliary hoist unchanged; If A< > 0, then increase the speed of the corresponding auxiliary winch until <A;​ If A < < B, and < 0, then reduce the speed of the corresponding auxiliary hoist until < A; like >B, the main winch and auxiliary winch will stop and send out an alarm signal.

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