Elevator and control method

Abstract

This application relates to the field of mine hoisting equipment technology, specifically a hoist and its control method. The hoist includes a base, external rotor motors, a drive assembly, and a traveling assembly. Two external rotor motors are arranged along the motor's axial direction. Each external rotor motor includes a stator assembly and a rotor assembly sleeved outside the stator assembly. The stator assembly is fixedly connected to the base and rotatably engages with the rotor assembly. A clutch chamber is defined between the rotor assemblies of the two external rotor motors along the axial direction. The traveling assembly is disposed within the clutch chamber and has a linked state and a disengaged state. At least a portion of the drive assembly is disposed on the base and located outside the clutch chamber. The drive assembly can drive the traveling assembly to switch between the linked state and the disengaged state. In the linked state, the traveling assembly connects the rotor assemblies of the two external rotor motors; in the disengaged state, the traveling assembly separates the rotor assemblies of the two external rotor motors. The hoist of this application can adjust the angular position error between the drums of the two rotor assemblies.

Description

Technical Field

[0001] This application relates to the field of mine hoisting equipment technology, and in particular to a hoist and control method. Background Technology

[0002] Hoists are the main hoisting equipment in mines, connecting underground and surface areas. As coal mining develops towards deeper and even ultra-deep mines (mines with depths of over 1400m), problems such as plastic deformation of the ropes after long-term operation are common. For example, in a double-rope winding double-drum permanent magnet external rotor hoist, each drum drives a hoisting container through a rope. The two drums rotate synchronously to make the two hoisting containers rise and fall simultaneously. However, due to the plastic deformation of the ropes, the positional error of the hoisting containers driven by the two drums is often large, making it difficult to achieve simultaneous material entry and exit from the two hoisting containers. Summary of the Invention

[0003] In view of this, the present application aims to provide a hoist and control method that can adjust the position of the hoisting container driven by the two drums after the ropes of the double-rope winding double-drum permanent magnet external rotor hoist have undergone plastic deformation.

[0004] To achieve the above objectives, one embodiment of this application provides a hoist, the hoist comprising: Base; Two external rotor motors are arranged along the axial direction of the two external rotor motors. Each external rotor motor includes a stator assembly and a rotor assembly sleeved on the outside of the stator assembly. The stator assembly is fixedly connected to the base and rotates with the rotor assembly. The rotor assemblies of the two external rotor motors define a clutch cavity between them along the axial direction. A drive assembly and a sliding assembly are provided. The sliding assembly is disposed in the clutch cavity and has a linked state and a disengaged state. At least a portion of the drive assembly is disposed on the base and located outside the clutch cavity. The drive assembly is capable of driving the sliding assembly to switch between the linked state and the disengaged state. In the linked state, the sliding assembly connects the rotor assemblies of the two external rotor motors. In the disengaged state, the sliding assembly separates the rotor assemblies of the two external rotor motors.

[0005] In some embodiments, one of the two external rotor motors is a first motor and the other is a second motor. The sliding assembly includes a sliding member, a first connecting portion, and a second connecting portion. The first connecting portion is connected to the rotor assembly of the first motor, and the second connecting portion is connected to the rotor assembly of the second motor. The drive assembly is capable of driving the sliding member to separate from at least one of the first connecting portion and the second connecting portion, and to connect to the first connecting portion and the second connecting portion respectively, so as to switch between the separated state and the linked state.

[0006] In some embodiments, the drive assembly includes a transmission rod, a drive member, and a first elastic member. One end of the first elastic member is connected to the movable member, and the other end is connected to the rotor assembly of the first motor or the rotor assembly of the second motor. A portion of the drive member is disposed on the base, and the transmission rod is movably disposed within the rotor assembly of the first motor along the axial direction. The driving member can drive the transmission rod to move along the axial direction toward the moving member, so as to extend into the clutch cavity and push the moving member to separate from at least one of the first connecting part and the second connecting part, and the first elastic member generates elastic deformation and stores elastic potential energy; The driving member can drive the transmission rod to move away from the sliding member along the axial direction, so that the transmission rod retracts into the rotor assembly of the first motor, and the first elastic member releases elastic potential energy to push the sliding member to connect with the first connecting part and the second connecting part respectively.

[0007] In some embodiments, the driving component includes a power source, a telescopic rod, and a second elastic element. The power source is disposed on the base and drivenly connected to the telescopic rod. The second elastic element is disposed on the transmission rod. The power source drives the telescopic rod to extend into the rotor assembly of the first motor and pushes the transmission rod to move along the axial direction toward the moving member. The second elastic element generates elastic deformation and stores elastic potential energy. The power source drives the telescopic rod to retract, and the second elastic element releases elastic potential energy to push the transmission rod to move away from the movable element along the axial direction.

[0008] In some embodiments, a pulley is provided at the end of the transmission rod near the movable member.

[0009] In some embodiments, both the first connecting portion and the second connecting portion are cylindrical members. The second connecting portion is sleeved on the outside of the first connecting portion to define an annular gap along the radial direction of the outer rotor motor. The moving member includes an annular portion and a rod portion. The rod portion is disposed on the end face of the annular portion along the axial direction and slides in cooperation with the rotor assembly of the first motor or the rotor assembly of the second motor along the axial direction. The first elastic member is sleeved on the rod portion. The annular portion can enter the annular gap under the push of the first elastic member, so that the inner ring and outer ring of the annular portion are connected to the first connecting portion and the second connecting portion respectively. The annular portion can disengage from the annular gap under the push of the transmission rod, so that the inner ring of the annular portion is separated from the first connecting portion.

[0010] In some embodiments, there are multiple rods and multiple drive components. Multiple rods are spaced apart along the circumference of the outer rotor motor in the annular portion. Multiple drive components are spaced apart along the circumference of the outer rotor motor. Each rod is fitted with at least one first elastic part. Multiple drive rods and multiple first elastic parts can push the annular portion to move along the axial direction.

[0011] In some embodiments, at least a portion of the outer surface of the first connecting portion is formed with a first toothed structure, and at least a portion of the inner ring of the annular portion is formed with a second toothed structure, wherein the first toothed structure is used to limit the outer rotor motor circumferentially with the second toothed structure.

[0012] In some embodiments, at least a portion of the inner surface of the second connecting portion is formed with a third toothed structure, and at least a portion of the outer ring of the annular portion is formed with a fourth toothed structure, the third toothed structure being used to limit the outer rotor motor circumferentially with the fourth toothed structure.

[0013] In some embodiments, the first connecting portion and / or the second connecting portion are provided with a stop portion, the stop portion being used to limit the annular portion along the axial direction.

[0014] In some embodiments, the hoist further includes a wire rope, a hoisting container, and a balancing mechanism. The balancing mechanism includes a base and a plurality of pulley assemblies. The base is connected to the hoisting container. Each of the pulley assemblies is rotatably mounted on the base. The line connecting the rotation centers of each of the pulley assemblies is an arc. The two ends of the wire rope are connected to the rotor assembly. The middle portion of the wire rope passes around each of the pulley assemblies sequentially along the arc.

[0015] In some embodiments, the pulley assembly includes a pulley component, a permanent magnet component, and a conductor. The pulley component is rotatably connected to the base. The permanent magnet component is disposed on the pulley component, and the conductor is disposed on the base. The pulley component rotates relative to the fixed component so that the conductor can generate an induced current and produce a reverse electromagnetic torque on the permanent magnet component.

[0016] Another aspect of this application provides a control method applied to the hoist described in any of the above claims, the control method comprising: The drive assembly is controlled to drive the moving assembly to switch between the linked state and the separated state, so as to connect and disconnect the rotor assemblies of the two external rotor motors.

[0017] In some embodiments, the hoist includes a coupling and a pressure sensor, the stator assemblies of the two external rotor motors are connected via the coupling, the pressure sensor is disposed within the coupling, and the control method includes: The torsional force between the two stator assemblies is measured using the pressure sensor. The controller adjusts the current of the two external rotor motors based on the unbalanced torsional force to adjust the output torque of the two external rotor motors.

[0018] The hoist and control method provided in this application define a clutch cavity between the rotor assemblies of two external rotor motors arranged axially. A floating assembly is disposed within the clutch cavity, and at least a portion of the drive assembly is disposed on the base and located outside the clutch cavity. The drive assembly located outside the clutch cavity can enter the clutch cavity and drive the floating assembly, so that the floating assembly switches from a linked state to a disengaged state. This allows the rotor assemblies of two adjacent external rotor motors to switch from connected to disengaged, and the two rotor assemblies can rotate relative to each other. On the one hand, the floating assembly is completely between the axial end faces of the rotor assemblies of the two external rotor motors, which can protect the floating assembly to a certain extent and improve its reliability and stability. On the other hand, the floating assembly does not occupy the radial external space of the external rotor motors, which can reduce the overall size of the hoist and improve the structural compactness of the hoist. On the other hand, by rotating the rotor assembly of at least one external rotor motor in the separated state, the relative rotation angle between the two drums of the rotor assembly can be adjusted, thereby adjusting the lowering length of the wire rope on the two drums. This reduces the positional error of the lifting container driven by the drums on the two rotor assemblies due to the plastic deformation of the wire rope, and improves the situation where one lifting container reaches the corresponding designated position while the other lifting container cannot reach the corresponding designated position or is far away from the corresponding designated position. This is beneficial for the simultaneous entry and exit of materials in the two lifting containers and improves the efficiency of operation. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the hoist provided in the embodiment of this application; Figure 2 yes Figure 1 A magnified view of a portion of the image; Figure 3 This is an exploded schematic diagram of the rotor assembly and the moving assembly of the two external rotor motors in the embodiments of this application; Figure 4 yes Figure 3 An illustration of the explosion from another perspective; Figure 5 yes Figure 3 A diagram illustrating further explosions; Figure 6 This is an exploded view of the first main shaft and base of the first motor in an embodiment of this application; Figure 7 This is a schematic diagram of the balancing mechanism and the lifting container in the embodiments of this application; Figure 8 yes Figure 7 Sectional view at point AA; Figure 9 This is a schematic diagram of the balancing mechanism in the embodiments of this application; Figure 10 yes Figure 9 An explosion diagram; Figure 11 This is a flowchart of the control method in the embodiments of this application; Figure 12 This is a schematic diagram of the control logic for vector control in an embodiment of this application.

[0020] Explanation of reference numerals in the attached figures 10. Hoist; 10a. Clutch chamber; 11. Base; 11a. Fixing hole; 12. First motor; 12a. First inner cavity; 121. First rotor assembly; 1211. First drum; 1212. First side plate; 1212a. First hole; 1213. Second side plate; 1213a. Second hole; 1214. First rotor back iron; 122. First stator assembly; 1221. First main shaft; 1221a. First fixed section; 1221b. Fixing plate; 1222 1222a, First stator core; 1223, Web plate; 1224, First stator winding; 1225, Connector; 13, Second motor; 13a, Second inner cavity; 131, Second rotor assembly; 1311, Second drum assembly; 1312, Third side plate; 1313, Fourth side plate; 1314, Second rotor back iron; 132, Second stator assembly; 1321, Second main shaft; 1322, Second stator core; 1323, Second stator winding; 141, Drive assembly; 1411. Transmission rod; 1411a, pulley; 1412, driving component; 14121, power source; 14122, telescopic rod; 14123, second elastic element; 1413, first elastic element; 142, moving assembly; 142a, annular gap; 1421, moving component; 14211, annular portion; 14211a, second toothed structure; 14211b, fourth toothed structure; 14212, rod portion; 1422, first connecting portion; 1422a, first toothed structure; 1423. Second connecting part; 1423a, third toothed structure; 1423b, stop part; 15, wire rope; 16, lifting container; 17, balancing mechanism; 171, base; 172, pulley assembly; 1721, pulley component; 1722, permanent magnet component; 1723, conductor; 1723a, fixing groove; 1724, second bearing; 1724a, fixing protrusion; 1725, pulley shaft; 18, first bearing; 19, disc brake assembly; 191, brake; 192, brake disc. Detailed Implementation

[0021] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0022] In the description of the embodiments of this application, it should be noted that the terms "center," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0024] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature and the second feature are in direct contact, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0025] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0026] Mine hoisting equipment used in ultra-deep wells (mines with a depth of more than 1400m) often faces problems such as the ropes being prone to plastic deformation after long-term operation.

[0027] In coaxially arranged twin-drum hoists, the two drums rotate synchronously, driving two lifting containers up and down via ropes. A common problem is that the plastic deformation of the ropes can cause significant positional errors in the lifting containers driven by the two drums. This results in one lifting container reaching its designated position while the other is either unable to reach its designated position or is far from it, making it difficult to achieve simultaneous material loading and unloading from both containers and impacting operational efficiency. Furthermore, in ultra-deep well hoists, due to the susceptibility of rope deformation, traditional constant-contact or friction-based rope adjusting devices are often insufficient for adjusting the ropes between the two permanent magnet external rotor drums.

[0028] Based on the above, the first aspect of this application provides a hoist 10. Please refer to [link to relevant documentation]. Figures 1 to 8 The hoist 10 includes a base 11, two external rotor motors, a drive assembly 141, and a traveling assembly 142. The two external rotor motors are arranged axially. Each external rotor motor includes a stator assembly and a rotor assembly sleeved outside the stator assembly. The stator assembly is fixedly connected to the base 11 and rotatably engages with the rotor assembly. A clutch cavity 10a is defined between the rotor assemblies of the two external rotor motors axially. The traveling assembly 142 is disposed in the clutch cavity 10a. The traveling assembly 142 has an engaged state and a disengaged state. At least a portion of the drive assembly 141 is disposed on the base 11. At least a portion of the drive assembly 141 is located outside the clutch cavity 10a. The drive assembly 141 is capable of driving the traveling assembly 142 to switch between the engaged state and the disengaged state. In the engaged state, the traveling assembly 142 connects the rotor assemblies of the two external rotor motors. In the disengaged state, the traveling assembly 142 separates the rotor assemblies of the two external rotor motors.

[0029] It should be noted that, unless otherwise explicitly specified and limited, the axial, radial, and circumferential directions in this application refer to the axial, radial, and circumferential directions of the external rotor motor, which are the same as those of the hoist 10, drum, stator assembly, and rotor assembly.

[0030] For example, Figure 1 , Figure 2 and Figure 6 R1 in the equation can be the axial direction of the external rotor motor.

[0031] The hoist 10 in this application includes a base 11, two external rotor motors, a drive assembly 141, and a floating assembly 142. The base 11 can provide mounting points for the stator assembly of one external rotor motor, and the base 11 can also provide mounting points for the stator assembly of one external rotor motor and at least part of the drive assembly 141.

[0032] For example, the hoist 10 also includes a fixed platform, with two external rotor motors connected to the fixed platform via two different bases 11. The fixed platform fixes the two external rotor motors, the drive assembly 141 and the floating assembly 142 together, making the structure of the hoist 10 more reliable and compact, which facilitates the transportation and assembly of the hoist 10 as a whole.

[0033] The two external rotor motors are arranged along the axial direction of the external rotor motors, meaning that the two external rotor motors are set coaxially. This facilitates the linkage and synchronous rotation of the two external rotor motors through the simpler sliding assembly 142.

[0034] The rotor assembly of the external rotor motor is sleeved outside the stator assembly, meaning that the rotor assembly is completely located outside the stator assembly, and the outer periphery of the rotor assembly has at least one drum portion for winding the wire rope 15. In other words, the rotor assembly of the external rotor motor can directly drive the drum to wind and unwind the wire rope 15, thereby lifting or lowering it to the lifting container 16 at the other end of the wire rope 15.

[0035] For example, each external rotor motor may have a drum outside its rotor assembly, and there are two external rotor motors and two drums.

[0036] The type of external rotor motor is not limited; it can be a permanent magnet synchronous motor, an asynchronous motor, a switched reluctance motor, etc. Specifically, the external rotor motor in this application is a permanent magnet synchronous motor.

[0037] In this application embodiment, the external rotor motor is a permanent magnet synchronous motor, and each external rotor motor has a drum outside the rotor assembly for example.

[0038] Understandably, the hoist 10 driven by a permanent magnet synchronous motor has the advantages of energy saving, high efficiency and low failure rate, and is a reliable drive device in the field of deep well hoisting.

[0039] The stator assembly is fixedly connected to the base 11 and rotatably engages with the rotor assembly. Exemplarily, the external rotor motor also includes a first bearing 18, through which the stator assembly and the rotor assembly rotatably engage.

[0040] The rotor assemblies of the two external rotor motors define a clutch cavity 10a between them along the axial direction. That is, the space between the two rotor assemblies at their axial end faces is the clutch cavity 10a.

[0041] The floating assembly 142 is disposed in the clutch cavity 10a. It should be noted that the clutch cavity 10a is the external space of the outer rotor motor, and this space is located at the axial interval between the two outer rotor motors. In this way, the floating assembly 142 does not occupy the radial external space of the outer rotor motor, which can reduce the overall size of the hoist 10 and improve the structural compactness of the hoist 10.

[0042] The drive assembly 141 can drive the moving assembly 142 to switch between a linked state and a separated state. The moving assembly 142 can be used to connect the rotor assemblies of the two external rotor motors in the linked state, so that the drums on the two rotor assemblies can rotate synchronously to achieve the linked state, or to separate the rotor assemblies of the two external rotor motors in the separated state, so that the drums on the two rotor assemblies can disengage and move relative to each other, and the linked state is released.

[0043] The number of driving components 141 and the number of moving components 142 are not limited. The number of driving components 141 and the number of moving components 142 can be the same or different.

[0044] For example, the hoist 10 includes a moving component 142 and a plurality of drive components 141, which are spaced apart in the circumferential direction to jointly drive the same moving component 142 to switch between a linked state and a separated state.

[0045] The "multiple" mentioned in the embodiments of this application refers to two or more.

[0046] The fact that at least a portion of the drive assembly 141 is disposed on the base 11 means that the entire drive assembly 141 is disposed on the base 11, or that a portion of the drive assembly 141 is disposed on the base 11.

[0047] At least a portion of the drive assembly 141 is located outside the clutch cavity 10a. This can be a partial drive assembly 141 located outside the clutch cavity 10a and a partial drive assembly 141 located inside the clutch cavity 10a; or the entire drive assembly 141 can be located outside the clutch cavity 10a. No limitation is made here.

[0048] It should be noted that the drive assembly 141 located outside the clutch cavity 10a can be inside the outer rotor motor, or in any space outside the outer rotor motor and outside the clutch cavity 10a, or it can be partially inside the outer rotor motor and partially in any space outside the outer rotor motor and outside the clutch cavity 10a. No restrictions are imposed here.

[0049] For example, the drive assembly 141 located outside the clutch cavity 10a is partly inside the outer rotor motor and partly in the space at one end of the outer rotor motor axially away from the clutch cavity 10a.

[0050] A rotor assembly has a drum, and a wire rope 15 on one drum drives a lifting container 16. The wire ropes 15 on the two drums are wound in opposite directions, so that when the two rotor assemblies rotate in the same direction in a linked state, one of the drums winds the wire rope 15 and raises the lifting container 16, while the other drum releases the wire rope 15 and lowers the lifting container 16. The two drums rotate synchronously in the same direction, and the two lifting containers 16 rise and fall alternately. When one lifting container 16 reaches its designated position, the other can also reach its designated position, enabling simultaneous material entry and exit from both lifting containers 16 and improving the working efficiency of the elevator 10. In the separated state, the operator can adjust one of the drums or both drums simultaneously to adjust the wire ropes 15 on the two drums, reducing the positional error of the lifting container 16 driven by the drums on the two rotor assemblies due to the plastic deformation of the ropes. Understandably, the positional error of the hoisting containers 16 driven by the drums on the two rotor assemblies due to the plastic deformation of the rope can ultimately be reflected in the two drums and converted into an angular error between them in the direction of rotation. For example, the distance error between the two hoisting containers 16 in the direction of mine depth is the length of the wire rope 15 that one of the drums needs to wind or unwind. Approximating the length of the wire rope 15 as the circumference or arc length of the drum's outer surface in the direction of rotation, and based on the diameter of the drum's outer surface, the angle by which the drum needs to rotate to wind or unwind the aforementioned length of wire rope 15 can be calculated. In other words, the distance error between the two hoisting containers 16 in the direction of mine depth can be converted into an angular positional error between the two drums.

[0051] The hoist 10 provided in this application embodiment defines a clutch cavity 10a between the rotor assemblies of two axially arranged external rotor motors. A floating assembly 142 is disposed within the clutch cavity 10a. At least a portion of the drive assembly 141 is disposed on the base 11 and located outside the clutch cavity 10a. The drive assembly 141 located outside the clutch cavity 10a can enter the clutch cavity 10a and drive the floating assembly 142, so that the floating assembly 142 switches from a linked state to a disengaged state. This allows the rotor assemblies of two adjacent external rotor motors to switch from connected to disengaged, and the two rotor assemblies can rotate relative to each other. On the one hand, the floating assembly 142 is completely between the axial end faces of the rotor assemblies of the two external rotor motors, which can protect the floating assembly 142 to a certain extent. On the other hand, The floating assembly 142 does not occupy the radial external space of the outer rotor motor, which helps to reduce the overall size of the hoist 10 and improve the structural compactness of the hoist 10. On the other hand, by rotating the rotor assembly of at least one outer rotor motor in the separated state, the relative rotation angle between the two drums of the rotor assembly can be adjusted, thereby adjusting the lowering length of the wire rope 15 on the two drums. This reduces the positional error of the lifting container 16 driven by the drums on the two rotor assemblies due to the plastic deformation of the wire rope 15, and improves the situation where when one lifting container 16 reaches the corresponding designated position, the other lifting container 16 cannot reach the corresponding designated position or is far away from the corresponding designated position. This is conducive to the simultaneous entry and exit of materials in the two lifting containers 16 and improves the operating efficiency.

[0052] Furthermore, in the linked state, the rotor assemblies of the two external rotor motors are connected together via the floating assembly 142. When one of the two external rotor motors suddenly fails, the circuit breaker of the control circuit can disconnect the power supply to the failed external rotor motor, maintaining control of the other external rotor motor. Relying on one external rotor motor to drive both rotor assemblies to perform the lifting and conveying task improves the safety and reliability of the hoist 10. The permanent magnet external rotor motor has more than twice the overload capacity, enabling it to drive both rotor assemblies to achieve redundant operation, sufficient to complete temporary emergency production tasks.

[0053] In some embodiments, please refer to Figures 1 to 6 One of the two external rotor motors is a first motor 12, and the other is a second motor 13. The sliding assembly 142 includes a sliding member 1421, a first connecting portion 1422, and a second connecting portion 1423. The first connecting portion 1422 is connected to the rotor assembly of the first motor 12. The second connecting portion 1423 is connected to the rotor assembly of the second motor 13. The drive assembly 141 is capable of driving the sliding member 1421 to separate from at least one of the first connecting portion 1422 and the second connecting portion 1423, and to connect to both the first connecting portion 1422 and the second connecting portion 1423 respectively, to switch between a separated state and an engaged state.

[0054] For example, the rotor assembly of the first motor 12 is a first rotor assembly 121, and the stator assembly of the first motor 12 is a first stator assembly 122. The first rotor assembly 121 includes a first drum 1211, a first side plate 1212, and a second side plate 1213. The two ends of the first drum 1211 along the axial direction are respectively connected to the first side plate 1212 and the second side plate 1213. The first drum 1211, the first side plate 1212, and the second side plate 1213 define a first inner cavity 12a of the rotor assembly. The first side plate 1212 and the second side plate 1213 are rotatably connected to the first stator assembly 122.

[0055] For example, the rotor assembly of the second motor 13 is the second rotor assembly 131, and the stator assembly of the second motor 13 is the second stator assembly 132. The second rotor assembly 131 includes a second drum 1311, a third side plate 1312, and a fourth side plate 1313. The two ends of the second drum 1311 along the axial direction are respectively connected to the third side plate 1312 and the fourth side plate 1313. The second drum 1311, the third side plate 1312, and the fourth side plate 1313 define a second inner cavity 13a of the rotor assembly. The third side plate 1312 and the fourth side plate 1313 are rotatably connected to the second stator assembly 132.

[0056] For example, the first connecting part 1422 is connected to the second side plate 1213 by fasteners, or the first connecting part 1422 and the second side plate 1213 are integrally formed.

[0057] For example, the second connecting part 1423 is connected to the third side plate 1312 by fasteners, or the second connecting part 1423 and the third side plate 1312 are integrally formed.

[0058] The drive assembly 141 can drive the movable member 1421 to separate from at least one of the first connecting part 1422 and the second connecting part 1423, and to connect to the first connecting part 1422 and the second connecting part 1423 respectively, so as to switch between a separated state and a linked state. That is, in the linked state, the movable member 1421 in the drive assembly 141 is indirectly connected to the rotor assembly of the first motor 12 through the first connecting part 1422, and the movable member 1421 is indirectly connected to the rotor assembly of the second motor 13 through the second connecting part 1423, thereby realizing the connection between the rotor assembly of the first motor 12 and the rotor assembly of the second motor 13, so that the first drum 1211 and the second drum 1311 can rotate synchronously and in the same direction. In the separated state, the movable member 1421 can be separated from only the first connecting part 1422, or from only the second connecting part 1423, or from both the first connecting part 1422 and the second connecting part 1423 at the same time, thereby detaching the connection between the rotor assembly of the first motor 12 and the rotor assembly of the second motor 13, so that the first drum 1211 and the second drum 1311 can rotate relative to each other, which is beneficial for adjusting the operation between the drums.

[0059] Exemplarily, the first spool 1211 has a cylindrical structure, and the rotor assembly of the first motor 12 further includes a first rotor back iron 1214 disposed on the inner wall of the first spool 1211. The first rotor back iron 1214 is equipped with alternating radially magnetized permanent magnets. The second spool 1311 has a cylindrical structure, and the rotor assembly of the second motor 13 further includes a second rotor back iron 1314 disposed on the inner wall of the second spool 1311. The second rotor back iron 1314 is equipped with alternating radially magnetized permanent magnets.

[0060] Exemplarily, the first stator assembly 122 includes a first main shaft 1221, a first stator core 1222, and a first stator winding 1223. The first main shaft 1221 passes through a first inner cavity 12a and is rotatably engaged with a first side plate 1212 and a second side plate 1213, respectively. The first stator core 1222 is connected to the first main shaft 1221 radially inward, and the first stator winding 1223 is disposed on the first stator core 1222 radially outward. The stator assembly is fixedly connected to the base 11 via the first main shaft 1221. The second stator assembly 132 includes a second main shaft 1321, a second stator core 1322, and a second stator winding 1323. The second stator core 1322 is connected to the second main shaft 1321 radially inward, and the second stator winding 1323 is disposed on the second stator core 1322 radially outward. The stator assembly is fixedly connected to the base 11 via the second spindle 1321.

[0061] For example, the first spindle 1221 extends out of the first inner cavity 12a and is located in the clutch cavity 10a at one end axially away from the base 11, and the second spindle 1321 extends out of the second inner cavity 13a and is located in the clutch cavity 10a at one end axially away from the base 11. The first spindle 1221 and the second spindle 1321 are connected in the clutch cavity 10a by a coupling.

[0062] Specifically, the base 11 has a polygonal fixing hole 11a in a cross-section perpendicular to the axial direction. The portion of the first spindle 1221 extending axially away from the second spindle 1321 and out of the first inner cavity 12a has a first fixing section 1221a that matches the fixing hole 11a. The fixing hole 11a and the first fixing section 1221a can be engaged at least circumferentially. Furthermore, while maintaining the circumferential engagement, an axial engagement or interference fit can also be achieved, thereby limiting the axial movement of the first spindle 1221 so that the base 11 provides support and fixation for the first spindle 1221. The portion of the second spindle 1321 extending axially away from the first spindle 1221 and out of the second inner cavity 13a has a second fixing section that matches the fixing hole 11a. The fixing hole 11a and the second fixing section can be engaged at least circumferentially. It can also achieve axial positioning of the second spindle 1321 while simultaneously engaging the upper limit in the circumferential direction, or by using an interference fit, thereby enabling the base 11 to provide support and fixation for the second spindle 1321.

[0063] A polygon is a planar figure composed of three or more line segments that are not on the same straight line, connected end to end in sequence. Polygons can be classified into regular polygons and non-regular polygons, convex polygons and concave polygons, etc. For example, a polygon can be a rectangle.

[0064] In some embodiments, please refer to Figures 1 to 6The drive assembly 141 includes a transmission rod 1411, a drive member 1412, and a first elastic member 1413. One end of the first elastic member 1413 is connected to the movable member 1421, and the other end is connected to the rotor assembly of the first motor 12 or the rotor assembly of the second motor 13. A portion of the drive member 1412 is disposed on the base 11. The transmission rod 1411 is axially movable within the rotor assembly of the first motor 12. The drive member 1412 can drive the transmission rod 1411 to move axially toward the movable member 1421 to extend into the clutch cavity 10a and push the movable member 1421 to separate from at least one of the first connecting portion 1422 and the second connecting portion 1423. The first elastic member 1413 undergoes elastic deformation and stores elastic potential energy. The drive member 1412 can drive the transmission rod 1411 to move axially away from the movable member 1421, so that the transmission rod 1411 retracts into the rotor assembly of the first motor 12, and the first elastic member 1413 releases elastic potential energy to push the movable member 1421 to connect with the first connecting part 1422 and the second connecting part 1423 respectively.

[0065] One end of the first elastic element 1413 is connected to the moving element 1421, and the other end is connected to the rotor assembly of the first motor 12 or the rotor assembly of the second motor 13. That is, the first elastic element 1413 is disposed in the clutch cavity 10a, and in the linkage state, the first elastic element 1413 rotates synchronously with the two rotor assemblies.

[0066] Part of the drive component 1412 is located on the base 11, and the stator assembly is also fixed on the base 11. That is to say, the drive component 1412 is fixed together with the stator assembly and does not rotate with the rotor assembly.

[0067] The transmission rod 1411 is axially movable within the rotor assembly of the first motor 12, meaning that the transmission rod 1411 is located within the space of the rotor assembly of the first motor 12 in the linked state. Specifically, the connection can be that the transmission rod 1411 is axially movable on the stator assembly of the first motor 12. The connection between the transmission rod 1411 and the stator assembly of the first motor 12 can be a sliding fit, a slider-screw structure fit, or a gear-rack fit, etc., and is not limited here.

[0068] For example, the transmission rod 1411 is axially movable on the first stator core 1222 of the stator assembly of the first motor 12. That is, the transmission rod 1411 is located in the first inner cavity 12a of the first motor 12. In the linkage state, in order for the non-rotating transmission rod 1411 to move relative to the rotating rotor assembly, the transmission rod 1411 needs to be completely inside the rotor assembly.

[0069] For example, the first stator core 1222 of the stator assembly of the first motor 12 has a radially extending web 1222a. The web 1222a has a through hole. A transmission rod 1411 has a spline in one of the through holes and a spline groove in the other. The transmission rod 1411 passes through the through hole and slides axially with the web 1222a of the first stator core 1222 via the spline. The first stator core 1222 may have at least two webs 1222a in the axial direction to support and slide the transmission rod 1411 at at least two points, thereby improving the guiding effect on the transmission rod 1411.

[0070] For example, the first spindle 1221 has a radially extending fixed plate 1221b, and the web 1222a is connected to the fixed plate 1221b via a connector 1224. That is, the first stator core 1222 and the first spindle 1221 are not connected by an interference fit, but rather by a fixed connection formed through the connector 1224. The connector 1224 can be connected to both the web 1222a and the fixed plate 1221b via fasteners, thereby achieving the connection between the first stator core 1222 and the first spindle 1221.

[0071] The driving member 1412 can drive the transmission rod 1411 to move axially toward the moving member 1421, so as to extend into the clutch cavity 10a and push the moving member 1421 to separate from at least one of the first connecting part 1422 and the second connecting part 1423. The first elastic member 1413 generates elastic deformation and stores elastic potential energy. This means that in the linkage state, the driving member 1412 can drive the transmission rod 1411 into the clutch cavity 10a. While pushing the moving member 1421 to separate from at least one of the first connecting part 1422 and the second connecting part 1423, the driving member 1412 can also compress or stretch the first elastic member 1413 through the relative axial movement between the moving member 1421 and the first connecting part 1422 and the second connecting part 1423, so that the first elastic member 1413 generates elastic deformation and stores elastic potential energy, which prepares for the first elastic member 1413 to recover its elastic deformation and output elastic potential energy in the future.

[0072] For example, the first elastic element 1413 is a spring. Specifically, it can be a compression spring or a tension spring.

[0073] The number of the first elastic element 1413 is unlimited.

[0074] The driving member 1412 can drive the transmission rod 1411 to move axially away from the movable member 1421. In this way, the transmission rod 1411 can remove the axial force on the movable member 1421. During the process of the transmission rod 1411 retracting into the rotor assembly of the first motor 12, the first elastic member 1413 can gradually release elastic potential energy and restore elastic deformation, and push the movable member 1421 to reset. It then connects with the first connecting part 1422 and the second connecting part 1423 respectively, so that the movable assembly 142 can switch from a separated state to a linked state.

[0075] In this embodiment, by connecting one end of the first elastic element 1413 to the movable element 1421 and the other end to the rotor assembly of the first motor 12 or the rotor assembly of the second motor 13, the driving element 1412 outputs force to drive the transmission rod 1411 into the clutch chamber 10a and push the movable element 1421 to separate from at least one of the first connecting part 1422 and the second connecting part 1423, thereby achieving reliable switching from linkage to disengagement. After the driving element 1412 removes its force, the elastic potential energy stored in the first elastic element 1413 enables the movable element 1421 to automatically reset and connect to the first connecting part 1422 and the second connecting part 1423 respectively, thereby improving the reliability and ease of operation of switching from the disengagement state to the linkage state.

[0076] In related technologies, in a coaxially arranged dual permanent magnet external rotor motor hoist, the axial space of the linkage mechanism is completely occupied by the stators and windings of the two motors, leaving no place to install traditional axially moving clutches or gear meshing mechanisms, making it difficult to disengage the two drums and adjust the rope. This axial space limitation is a core structural contradiction that must be resolved when the permanent magnet external rotor direct drive scheme is applied to a dual-drum system. This embodiment, by placing the transmission rod 1411 within the rotor assembly of the first motor 12 and engaging it axially with the stator assembly of the first motor 12, and arranging the drive assembly 141 within the first motor 12, can rationally utilize the internal space of the first motor 12, reducing the space occupied by the drive assembly 141 outside the external rotor motor. Simultaneously, it allows the transmission rod 1411 to extend into the clutch cavity 10a, enabling disengagement of the two drums and rope adjustment. Furthermore, the transmission rod 1411 can be completely retracted into the clutch cavity 10a, improving the interference between the transmission rod 1411 and the rotor assembly of the first motor 12 in the linkage state.

[0077] It should be noted that in related technologies, the axial clearance between the two external rotor motors of the hoist can also be increased axially, thereby setting both the drive part and the traveling part of the linkage mechanism between the two external rotor motors. However, this requires adding a support base at the connection of the main shafts of the two external rotor motors, which increases the axial dimension of the hoist and is not conducive to the alignment of the two main shafts when connected by a coupling, increasing the difficulty of hoist installation and affecting the reliability of the hoist.

[0078] Therefore, this application fixes the first main shaft 1221 of the first motor 12 away from the second motor 13 along the axial direction to the base 11, and fixes the second main shaft 1321 of the second motor 13 away from the first motor 12 along the axial direction to the base 11. The first main shaft 1221 is suspended at the end near the second motor 13, and the second main shaft 1321 is suspended at the end near the first motor 12. The suspended ends of the two main shafts are connected by a coupling. At the same time, the first motor 12 and the second motor 13 are provided with an axial gap. In this way, the axial space between the two motors can be minimized, thereby reducing the axial dimension of the hoist 10, improving the compactness of the structure, and also facilitating the alignment of the two motors when they are installed by the coupling. In addition, it can eliminate the need to set additional support members between the two motors to support the joint of the two main shafts. The two motors can be fixedly installed by relying solely on the axial force and support force provided by the base on the outer side of the two motors, improving the convenience of installation.

[0079] For example, the drive component 1412 can be disposed within the rotor assembly of the first motor 12 and indirectly connected to the base 11 as a whole through the stator assembly of the first motor 12. In this way, the space occupied by the drive component 141 outside the outer rotor motor can be further reduced, the overall size of the hoist 10 can be reduced, and the compactness of the structure can be improved. The drive component 1412 can also be disposed outside the rotor assembly of the first motor 12, specifically located at the end of the first motor 12 away from the clutch cavity 10a along the axial direction.

[0080] In some embodiments, please refer to Figures 1 to 6 The driving component 1412 includes a power source 14121, a telescopic rod 14122, and a second elastic element 14123. The power source 14121 is disposed on the base 11 and is drivenly connected to the telescopic rod 14122. The second elastic element 14123 is disposed on the transmission rod 1411. The power source 14121 drives the telescopic rod 14122 to extend into the rotor assembly of the first motor 12 and pushes the transmission rod 1411 axially towards the movable member 1421. The second elastic element 14123 undergoes elastic deformation and stores elastic potential energy. The power source 14121 drives the telescopic rod 14122 to retract, and the second elastic element 14123 releases its elastic potential energy to push the transmission rod 1411 axially away from the movable member 1421.

[0081] The power source 14121 is located on the base 11, meaning that the power source 14121 is indirectly connected to the fixed platform through the base 11. In this way, the power source 14121 is connected to the base 11, which helps to improve the convenience of assembly.

[0082] The power source 14121 drives the telescopic rod 14122 to extend into the rotor assembly of the first motor 12 and pushes the transmission rod 1411 to move axially toward the moving member 1421. The second elastic member 14123 generates elastic deformation and stores elastic potential energy. In other words, the power source 14121 and the telescopic rod 14122 are both located outside the rotor assembly of the first motor 12 in the linkage state.

[0083] The second elastic element 14123 is disposed on the transmission rod 1411. Specifically, one end of the second elastic element 14123 is connected to the transmission rod 1411 along the axial direction, and the other end of the second elastic element 14123 is connected to the stator assembly of the first motor 12 along the axial direction. Thus, when the telescopic rod 14122 pushes the transmission rod 1411 to move axially toward the moving member 1421, the second elastic element 14123 is subjected to tension or compression, so that the second elastic element 14123 generates elastic deformation and stores elastic potential energy.

[0084] The power source 14121 drives the telescopic rod 14122 to retract, and the second elastic element 14123 can release the previously stored elastic potential energy to push the transmission rod 1411 to move axially away from the movable element 1421, so that the transmission rod 1411 can automatically reset and improve the convenience of operation.

[0085] For example, the second elastic element 14123 is a spring. Specifically, it can be a compression spring or a tension spring.

[0086] For example, the power source 14121 is a hydraulic cylinder, and the telescopic rod 14122 is a piston push rod.

[0087] The number of second elastic elements 14123 provided on a transmission rod 1411 is unlimited; it can be one, two, three, four, or so on. When multiple second elastic elements 14123 are provided on a transmission rod 1411, the type of each second elastic element 14123 can be different; for example, one may be a compression spring and the other a tension spring.

[0088] For example, the second elastic member 14123 is sleeved on the transmission rod 1411, so that the transmission rod 1411 can provide an installation position for the second elastic member 14123, thereby improving the telescopic reliability of the second elastic member 14123.

[0089] In this embodiment, by providing a second elastic element 14123 on the transmission rod 1411, when the telescopic rod 14122 retracts, the second elastic element 14123 can drive the transmission rod 1411 to automatically reset, improving the convenience of operation. At the same time, it can also improve the situation where the transmission rod 1411 is prone to interference with the rotor assembly of the first motor 12 in the linkage state.

[0090] In other embodiments, the power source 14121 is directly mounted on a fixed platform, which improves assembly flexibility.

[0091] In some embodiments, please refer to Figure 1 and Figure 2 A pulley 1411a is provided at one end of the transmission rod 1411 near the movable part 1421.

[0092] A pulley 1411a is provided at the end of the transmission rod 1411 that is close to the movable member 1421, that is, the end that contacts the movable member 1421. This can reduce the friction between the transmission rod 1411 and the movable member 1421, thereby improving the power transmission effect from the transmission rod 1411 to the movable member 1421 and improving the smoothness of the transmission rod 1411 pushing the movable member 1421 axially.

[0093] In some embodiments, please refer to Figures 1 to 5 Both the first connecting portion 1422 and the second connecting portion 1423 are cylindrical. The second connecting portion 1423 is sleeved on the outside of the first connecting portion 1422 to define an annular gap 142a along the radial direction of the outer rotor motor. The sliding member 1421 includes an annular portion 14211 and a rod portion 14212. The rod portion 14212 is disposed on the end face of the annular portion 14211 along one axial direction and slides axially with the rotor assembly of the first motor 12 or the rotor assembly of the second motor 13. A first elastic member 1413 is sleeved on the rod portion 14212. The annular portion 14211 can enter the annular gap 142a under the push of the first elastic member 1413, so that the inner and outer rings of the annular portion 14211 are connected to the first connecting portion 1422 and the second connecting portion 1423, respectively. The annular portion 14211 can disengage from the annular gap 142a under the push of the transmission rod 1411, so that the inner ring of the annular portion 14211 is separated from the first connecting portion 1422 and / or the outer ring of the annular portion 14211 is separated from the second connecting portion 1423.

[0094] It should be noted that the cylindrical part in this application refers to a hollow thin-walled rotating part, which is usually cylindrical.

[0095] The second connecting portion 1423 is sleeved on the outside of the first connecting portion 1422 to define an annular gap 142a along the radial direction of the outer rotor motor. It can be understood that the annular gap 142a is formed by the outer peripheral surface of the first connecting portion 1422 and the inner surface of the second connecting portion 1423, and is in the shape of a ring. That is to say, the annular gap 142a is a space located within the clutch cavity 10a.

[0096] The movable member 1421 includes an annular portion 14211 and a rod portion 14212. The rod portion 14212 is disposed on the end face of the annular portion 14211 along one axial direction and slides in axial direction with the rotor assembly of the first motor 12 or the rotor assembly of the second motor 13. Since the rod portion 14212 is disposed on the end face of the annular portion 14211 rather than at the center of the annular portion 14211, in other words, in the separated state, one of the rotor assemblies of the first motor 12 and the second motor 13 mutually limits and can rotate synchronously with the movable member 1421 in the rotational direction, while the other of the rotor assemblies of the first motor 12 and the second motor 13 is separated from the movable member 1421.

[0097] The rod portion 14212 slides axially with the rotor assembly of the first motor 12 or the rotor assembly of the second motor 13, which facilitates guiding the axial movement of the annular portion 14211 and provides some support for the entire moving member 1421. For example, a through hole is formed in the third side plate 1312, and the rod portion 14212 passes through the through hole and slides axially with it. A portion of the rod portion 14212 can extend into the second inner cavity 13a.

[0098] The first elastic element 1413 is sleeved on the rod portion 14212. That is, one end of the first elastic element 1413 is connected to the end face of the annular portion 14211, and the other end is connected to the rotor assembly that slides axially with the rod portion 14212.

[0099] For example, the rod portion 14212 is disposed on the end face of the annular portion 14211 along one axial direction and slides axially with the rotor assembly of the second motor 13. In this case, in the separated state, the movable member 1421 is separated from the rotor assembly of the first motor 12, mutually limited in the rotational direction with the rotor assembly of the second motor 13, and can rotate synchronously. The first elastic member 1413 may also be disposed between the movable member 1421 and the rotor assembly of the second motor 13, and the first elastic member 1413 is in a compressed state in the separated state.

[0100] The annular portion 14211 can enter the annular gap 142a under the push of the first elastic member 1413, so that the inner and outer rings of the annular portion 14211 are connected to the first connecting portion 1422 and the second connecting portion 1423 respectively. After the annular portion 14211 enters the annular gap 142a, the annular portion 14211 can be sleeved on the outside of the first connecting portion 1422, and the second connecting portion 1423 can be sleeved on the outside of the annular portion 14211, with the three sleeved in sequence. The sequential sleeved arrangement of the second connecting portion 1423, the annular portion 14211, and the first connecting portion 1422 can improve the coaxiality between the two rotor assemblies and indirectly improve the support strength of the opposite end of the first main shaft 1221 and the second main shaft 1321, thereby improving the coaxiality between the first main shaft 1221 and the second main shaft 1321.

[0101] The annular portion 14211 can disengage from the annular gap 142a under the push of the transmission rod 1411, so that the inner ring of the annular portion 14211 separates from the first connecting portion 1422, thereby switching the moving assembly 142 from the linked state to the separated state. It should be noted that after the annular portion 14211 disengages from the annular gap 142a, the outer ring of the annular portion 14211 can still be circumferentially limited to the second connecting portion 1423, or can be separated from the second connecting portion 1423.

[0102] For example, the outer ring of the annular portion 14211 and the second connecting portion 1423 can slide in axial direction. In this way, during the axial movement of the annular portion 14211, the second connecting portion 1423 can provide guidance and support for the annular portion 14211, which helps to improve the reliability of the annular portion 14211 entering and exiting the annular gap 142a in the axial direction.

[0103] In this embodiment, the rod portion 14212 of the sliding member 1421 slides axially with the rotor assembly of the first motor 12 or the rotor assembly of the second motor 13, which facilitates guiding the axial movement of the sliding member 1421 and provides an installation position for the first elastic member 1413. Simultaneously, the sequential sleeved arrangement of the second connecting portion 1423, the annular portion 14211, and the first connecting portion 1422 improves the coaxiality between the two rotor assemblies and indirectly enhances the support strength at the opposite end of the first main shaft 1221 and the second main shaft 1321, thereby improving the coaxiality between the first main shaft 1221 and the second main shaft 1321.

[0104] In some embodiments, please refer to Figures 1 to 5The number of rods 14212 and drive assemblies 141 is multiple. Multiple rods 14212 are spaced apart circumferentially along the outer rotor motor in the annular portion 14211. Multiple drive assemblies 141 are spaced apart circumferentially along the outer rotor motor. Each rod 14212 is fitted with at least one first elastic part. Both the multiple drive rods 1411 and the multiple first elastic parts are capable of pushing the annular portion 14211 to move axially.

[0105] For example, there are four rods 14212 and four drive assemblies 141.

[0106] For example, a plurality of rods 14212 are evenly distributed around the annular portion 14211 along the circumference of the outer rotor motor. A plurality of drive assemblies 141 are evenly distributed around the circumference of the outer rotor motor. The rods 14212 and the drive assemblies 141 are concentric with the distribution circle and have the same diameter.

[0107] Each rod portion 14212 is provided with at least one first elastic portion, meaning that the number of first elastic portions provided on each rod portion 14212 can be one or more. Multiple first elastic portions can be provided by having different diameters, with multiple first elastic portions overlapping each other before being fitted onto the rod portion 14212; alternatively, multiple first elastic portions can be connected at both ends and sequentially fitted onto the rod portion 14212. No limitation is imposed here.

[0108] For example, each rod 14212 is fitted with a first elastic part. The number of first elastic parts corresponds to the number of rods 14212.

[0109] Multiple transmission rods 1411 and multiple first elastic portions can all push the annular portion 14211 to move axially. This means that the multiple transmission rods 1411 can push the annular portion 14211 out of the annular gap 142a, allowing the moving assembly 142 to switch from a linked state to a disengaged state. The multiple first elastic portions can also push the annular portion 14211 into the annular gap 142a axially, allowing the moving assembly 142 to switch from a disengaged state to a linked state. This increases the number of contact points between the transmission rods 1411 and the annular portion 14211, allowing the multiple transmission rods 1411 to apply force to the annular portion 14211 more evenly along the axial direction, and the multiple first elastic portions to apply force to the annular portion 14211 more evenly. This improves the smoothness of bidirectional axial driving of the annular portion 14211, thereby enhancing the stability and reliability of the drive assembly 141.

[0110] For example, the first side plate 1212 and the second side plate 1213 are respectively formed with a plurality of first holes 1212a and a plurality of second holes 1213a. The telescopic rod 14122, the first holes 1212a, the transmission rod 1411, and the second holes 1213a correspond one-to-one and are aligned along the axial direction, so that the power source 14121 can drive the telescopic rod 14122 to extend into the first inner cavity 12a along the axial direction through the first hole 1212a to drive the transmission rod 1411. The transmission rod 1411 can extend into the clutch cavity 10a along the axial direction through the second hole 1213a and push the moving member 1421 to separate from at least one of the first connecting part 1422 and the second connecting part 1423, so as to switch from the linkage state to the separation state. Thus, the telescopic rod 14122, the transmission rod 1411, and the movable component 1421 can form an axial force transmission structure. In the linkage state, the telescopic rod 14122, the transmission rod 1411, and the movable component 1421 do not contact each other. The transmission rod 1411 is inside the rotor assembly of the first motor 12, and the telescopic rod 14122 is at the end of the first motor 12 away from the clutch cavity 10a along the axial direction. Both the transmission rod 1411 and the telescopic rod 14122 are fixed. The movable component 1421 is between the axial gap between the first motor 12 and the second motor 13 and rotates with the rotor assembly and the drum. This ensures that there is no frictional contact between the drive assembly 141 and the drum and the rotor assembly, improving the service life and durability of the drive assembly 141, the movable component 142, and the rotor assembly. At the same time, it can also improve the safety and reliability of adjusting the positional error between the drums of the two rotor assemblies through the drive assembly 141 and the movable component 142.

[0111] For example, the end of the transmission rod 1411 near the telescopic rod 14122 is formed with a frustum, which helps to increase the contact area between the telescopic rod 14122 and the transmission rod 1411 and improve the stability of the transmission.

[0112] In some embodiments, the hoist 10 further includes a disc brake assembly 19, which includes a plurality of brakes 191 mounted on a fixed platform and a brake disc 192 mounted on the rotor assembly, with each rotor assembly having one disc brake assembly 19. This allows for braking of both rotor assemblies when switching from a linked state to a separated state, facilitating axial movement of the sliding member 1421 to connect with the first connecting portion 1422 and the second connecting portion 1423, or to separate from at least one of the first connecting portion 1422 and the second connecting portion 1423.

[0113] In some embodiments, please refer to Figures 1 to 5At least a portion of the outer surface of the first connecting portion 1422 is formed with a first toothed structure 1422a. At least a portion of the inner ring of the annular portion 14211 is formed with a second toothed structure 14211a. The first toothed structure 1422a is used to limit the second toothed structure 14211a in the circumferential direction of the outer rotor motor.

[0114] The specific forms of the first tooth structure 1422a and the second tooth structure 14211a are not limited. Both can be gear tooth structures, or they can be splines and spline grooves.

[0115] At least a portion of the outer surface of the first connecting portion 1422 is formed with a first tooth structure 1422a, and at least a portion of the inner ring of the annular portion 14211 is formed with a second tooth structure 14211a. That is, the first tooth structure 1422a can be an incomplete gear structure or a complete gear structure, and the second tooth structure 14211a can also be an incomplete gear structure or a complete gear structure.

[0116] By limiting the first tooth structure 1422a and the second tooth structure 14211a in the circumferential direction of the outer rotor motor, the connection reliability between the first connecting part 1422 and the annular part 14211 can be achieved, while also allowing the first connecting part 1422 and the annular part 14211 to slide relative to each other along the axial direction, thus improving the convenience of state switching.

[0117] In some embodiments, please refer to Figures 1 to 5 At least a portion of the inner surface of the second connecting portion 1423 is formed with a third tooth structure 1423a, and at least a portion of the outer ring of the annular portion 14211 is formed with a fourth tooth structure 14211b. The third tooth structure 1423a is used to limit the fourth tooth structure 14211b in the circumferential direction of the outer rotor motor.

[0118] The specific forms of the third tooth structure 1423a and the fourth tooth structure 14211b are not limited. Both can be gear tooth structures, or they can be splines and spline grooves.

[0119] By using the third tooth structure 1423a and the fourth tooth structure 14211b to limit the circumferential movement of the outer rotor motor, the connection reliability between the second connecting part 1423 and the annular part 14211 can be achieved, while also allowing the second connecting part 1423 and the annular part 14211 to slide relative to each other along the axial direction, thus improving the convenience of state switching.

[0120] For example, in the separated state, the first connecting part 1422 is separated from the movable member 1421, while the second connecting part 1423 remains connected to the movable member 1421. The first tooth structure 1422a is an involute external gear, the second tooth structure 14211a is an involute internal gear, the third tooth structure 1423a is an internal spline, and the fourth tooth structure 14211b is an external spline. The second connecting part 1423 and the movable member 1421 are connected by a spline, which can improve the strength and reliability of the transmission structure. The first connecting part 1422 and the movable member 1421 are connected by external and internal gears, which facilitates the axial disengagement of the first connecting part 1422 and the movable member 1421, and also facilitates the axial meshing of the first connecting part 1422 and the movable member 1421, reducing the connection difficulty during the process of the first connecting part 1422 and the movable member 1421 approaching each other axially.

[0121] In some embodiments, please refer to Figures 1 to 2 The first connecting portion 1422 and / or the second connecting portion 1423 are provided with a stop portion 1423b. The stop portion 1423b is used to limit the annular portion 14211 axially.

[0122] It should be noted that the stop portion 1423b limits the annular portion 14211 along the axial direction. In fact, the stop portion 1423b limits the annular portion 14211 in a one-way direction away from the first elastic member 1413 along the axial direction.

[0123] The stop portion 1423b may be formed only at one end of the first connecting portion 1422 that is axially away from the first elastic member 1413, or it may be formed only at one end of the second connecting portion 1423 that is axially away from the first elastic member 1413, or it may be formed at both one end of the first connecting portion 1422 that is axially away from the first elastic member 1413 and one end of the second connecting portion 1423 that is axially away from the first elastic member 1413.

[0124] The stop portion 1423b can be integrally formed with the first connecting portion 1422 and / or the second connecting portion 1423.

[0125] For example, the outer peripheral surface of the first connecting portion 1422 protrudes radially outward to form a stop portion 1423b.

[0126] For example, the inner peripheral surface of the second connecting portion 1423 protrudes radially inward to form a stop portion 1423b.

[0127] Thus, in the linkage state, the first elastic member 1413 can push the floating member 1421 to the stop portion 1423b along the axial direction, so that the end face of the annular portion 14211 away from the rod portion 14212 abuts against the stop portion 1423b along the axial direction, thereby improving the connection reliability of the floating member 1421 with the first connecting portion 1422 and the second connecting portion 1423 respectively, and further improving the connection reliability between the two rotor assemblies.

[0128] In some embodiments, please refer to Figure 1 , Figures 7 to 9 The hoist 10 also includes a wire rope 15, a hoisting container 16, and a balancing mechanism 17. The balancing mechanism 17 includes a base 171 and multiple pulley assemblies 172. The base 171 is connected to the hoisting container 16. Each pulley assembly 172 is rotatably mounted on the base 171. The line connecting the rotation centers of each pulley assembly 172 is an arc. Both ends of the wire rope 15 are connected to a rotor assembly. The middle portion of the wire rope 15 passes sequentially around each pulley assembly 172 along an arc.

[0129] It should be noted that the specific number of wire rope 15, lifting container 16 and balancing mechanism 17 is not limited, and the number of the three can be the same or different.

[0130] For example, there are two steel wire ropes 15, two lifting containers 16, and two balancing mechanisms 17.

[0131] For example, the number of pulley assemblies 172 in a balancing mechanism 17 can be three, four, five, six, seven, eight, nine, or ten, etc.

[0132] The connection between the base 171 and the lifting container 16 can be assembled into one piece or it can be integrally formed; there is no limitation on this.

[0133] The lifting container 16 is used to load materials.

[0134] The line connecting the rotation centers of each pulley assembly 172 is an arc, which means that each pulley assembly 172 set on the same base 171 of the same lifting container 16 is arranged along a predetermined trajectory. The predetermined trajectory is an arc, which refers to a circular arc, that is, the part between any two points on a circle.

[0135] The connection of the two ends of the wire rope 15 to the rotor assembly means that the two ends of the wire rope 15 are connected to the drum portion of the same rotor assembly.

[0136] The middle part of the wire rope 15 passes around each pulley assembly 172 in sequence along an arc. This means that the middle part of the wire rope 15 is arranged in sequence along an arc on the side of the pulley assembly 172 away from the center of the arc. This can increase the contact area between the wire rope 15 and the pulley assembly 172, reduce the radius of curvature of the part of the wire rope 15 in contact with the lifting container 16, reduce the bending stress and wear of the wire rope 15 at the lifting container 16, and improve the service life of the wire rope 15.

[0137] It is understandable that, with the lifting container 16 as the boundary, a single wire rope 15 can be considered as two segments, both extending from the end of the wire rope 15 connected to the rotor assembly to the lifting container 16. Thus, by having the middle section of the wire rope 15 pass sequentially around each pulley assembly 172 along an arc, it is also beneficial that, under the weight of the lifting container 16, or under the weight of the lifting container 16 and the material, the rolling friction between the middle section of the wire rope 15 and each pulley assembly 172 automatically adjusts the length of the two wire rope segments 15. This improves the tension balance of the two wire rope segments 15 and provides independent rope adjustment capability. This addresses the issue in related technologies where, for a single external rotor motor drum, when the drum uses double-rope winding, the two wire ropes 15 leading from the drum may have inconsistent lengths due to uneven wear, potentially causing tension imbalance and safety accidents.

[0138] Thus, in this embodiment, by setting a floating assembly 142 between the axial end faces of the rotor assemblies of the two external rotor motors, the floating assembly 142 does not occupy the radial external space of the external rotor motors. This helps to reduce the overall size of the hoist 10 and improve its structural compactness. At the same time, it can also adjust the relative rotation angle of the drums on the rotor assemblies of the two external rotor motors to compensate for the positional error of the lifting container 16 driven by the drums on the two rotor assemblies due to the plastic deformation of the wire rope 15. This allows for rope adjustment between the two drums. Furthermore, by adopting a double-rope winding scheme for each drum, the two wire ropes 15 led out from each drum to the pulley assembly 172 can automatically adjust the length of the two sections of wire rope 15 under the gravity of the lifting container 16 and the material. This improves the tension balance of the two sections of wire rope 15 and provides independent rope adjustment capability. As a result, the hoist 10 has both rope adjustment capability between the two drums and rope adjustment capability on a single drum, improving the operational safety and reliability of the hoist 10.

[0139] In some embodiments, please refer to Figures 7 to 9The pulley assembly 172 includes a pulley component 1721, a permanent magnet component 1722, and a conductor 1723. The pulley component 1721 is rotatably connected to the base 171. The permanent magnet component 1722 is disposed on the pulley component 1721. The conductor 1723 is disposed on the base 171. The pulley component 1721 rotates relative to the fixed component, so that the conductor 1723 can generate an induced current and produce a reverse electromagnetic torque on the permanent magnet component 1722.

[0140] For example, the pulley assembly 172 further includes a second bearing 1724, and the two ends of the pulley member 1721 along the axial direction of the pulley assembly 172 are respectively rotatably connected to the base 171 through the second bearing 1724.

[0141] For example, the pulley assembly 172 further includes a pulley shaft 1725. Both ends of the pulley shaft 1725 along the axial direction of the pulley assembly 172 are respectively connected and fixed to the inner ring of the second bearing 1724, and the middle part of the pulley shaft 1725 is fixedly connected to the pulley member 1721. The outer ring (outer shell) of the second bearing 1724 is fixed to the base 171 by fasteners. A conductor 1723 is provided on the end face of the second bearing 1724 facing the pulley member 1721 along the axial direction of the pulley assembly 172. A set of permanent magnets 1722 are respectively provided on both ends of the pulley member 1721 along the axial direction of the pulley assembly 172. Thus, a set of permanent magnets 1722 is arranged opposite to a conductor 1723.

[0142] For example, Figure 7 , Figure 9 and Figure 10 R2 in the figure can be the axial direction of pulley assembly 172.

[0143] The axial direction of the pulley assembly 172 may be the same as or different from the axial direction of the external rotor motor.

[0144] It should be noted that the permanent magnet 1722 has two polarities, namely, an S-pole permanent magnet and an N-pole permanent magnet. In a set of permanent magnets 1722, the S-pole and N-pole permanent magnets are alternately spaced along the circumference of the pulley assembly 172. For example, a set of permanent magnets 1722 includes two S-pole permanent magnets and two N-pole permanent magnets, which are alternately spaced along the circumference of the pulley assembly 172, that is, along the circumference of the pulley assembly 172, the magnetic poles of the permanent magnets are distributed in the order of N-pole, S-pole, N-pole, S-pole.

[0145] For example, the conductor 1723 is disc-shaped and has a fixing groove 1723a. The end face of the second bearing 1724 has a fixing protrusion 1724a. The fixing protrusion 1724a can extend into the fixing groove 1723a along the axial direction of the pulley assembly 172, so that the conductor 1723 and the second bearing 1724 are mutually restrained at least in the circumferential direction of the pulley assembly 172, thereby improving the fixing strength of the conductor 1723. The fixing protrusion 1724a can be made of a high magnetic permeability material, such as iron, which can strengthen the magnetic field near the conductor 1723 and thus increase the electromagnetic damping torque.

[0146] Understandably, when the lifting wire rope 15 vibrates, or under the gravity of the lifting container 16, the length of the two sections of the wire rope 15 is automatically adjusted through the rolling friction between the middle of the wire rope 15 and each pulley assembly 172. The rope will drive the pulleys 1721 on each pulley assembly 172 to rotate relative to the base 171. When the pulleys 1721 rotate, there is a slip difference between them and the conductor 1723. That is, there is a difference between the rotation speed of the pulleys 1721 and the rotation speed of the rotating magnetic field. This allows the conductor 1723 on the base 171 to cut magnetic field lines and generate induced current (i.e., eddy current) in the magnetic field formed by the permanent magnet 1722. The eddy currents interact with the magnetic field and provide reverse damping torque to the permanent magnet 1722, which can slow down the movement tendency of the pulley 1721 where the permanent magnet 1722 is located, thereby increasing the attenuation speed of the tension oscillation of the wire rope 15 on both sides of the pulley 1721, making the lifting operation of the hoist 10 more stable.

[0147] Another aspect of this application provides a control method applied to the hoist 10 of any of the above claims. The control method includes: The control drive component drives the floating component to switch between linked and disengaged states, so as to connect and disconnect the rotor assemblies of the two external rotor motors.

[0148] The control method of this application embodiment, on the one hand, brakes the rotor assemblies of the two external rotor motors by means of brake 191, and controls drive assembly 141 to drive floating assembly 142 to switch from linkage state to separation state, so that the rotor assemblies of the two external rotor motors are separated, the brake of one rotor assembly is released, so that one rotor assembly is fixed and the other rotor assembly can rotate relatively independently, and the rotation angle between the two rotor assemblies is adjusted, thereby reducing the position error of the lifting container 16 driven by the drum on the two rotor assemblies due to the plastic deformation of the wire rope 15. This improves the situation where when one lifting container 16 reaches the corresponding designated position, the other lifting container 16 cannot reach the corresponding designated position or is far away from the corresponding designated position, which is conducive to the simultaneous entry and exit of materials in the two lifting containers 16 and ensures the efficiency of lifting operation. On the other hand, by controlling the drive component 141 to drive the floating component 142 to switch from the separated state to the linked state, the rotor components of the two external rotor motors are connected, so that the rotor components of the two external rotor motors can rotate synchronously. When one of the two external rotor motors suddenly fails, the circuit breaker of the control circuit can disconnect the power supply of the faulty motor, and the other external rotor motor can perform the lifting and conveying task, thus realizing the redundant operation of the dual drum.

[0149] In some embodiments, the hoist 10 includes a coupling and a pressure sensor, with the stator assemblies of two external rotor motors connected by the coupling, and the pressure sensor disposed within the coupling.

[0150] Please see Figure 11 and Figure 12 The control methods also include: S1: The torsional force between the two stator assemblies is measured using a pressure sensor; S2: The controller adjusts the current of the two external rotor motors based on the unbalanced torsional force to adjust the output torque of the two external rotor motors.

[0151] For example, the coupling is a flexible coupling.

[0152] For example, the couplings are connected to the main shafts of the stator assemblies of two external rotor motors, respectively.

[0153] In step S1, the pressure sensor is used to measure the unbalanced torsional force between the two stator assemblies.

[0154] Please see Figure 12 In the diagram, M1 is the first motor 12, and M2 is the second motor 13. It is the target speed. It provides actual speed feedback; speed PI is a proportional-integral control applied to the speed error signal. It is the target q-axis current of the external rotor motor. is the actual q-axis current, and currentPI is the proportional-integral control for the current error.

[0155] It should be noted that the controller can be integrated into the hoist 10 and communicate with the frequency converter that controls the external rotor motor; the controller can also be an external device independent of the hoist 10 and communicate with the frequency converter that controls the external rotor motor.

[0156] The control method of this application embodiment uses vector control to synchronously control the two motors. The pressure signal, after being filtered to remove high-frequency noise, serves as the feedback signal source for motor torque compensation. The feedback signal, after PI control, controls the target current of the first motor 12 and the second motor 13. Adjustments are made to eliminate unbalanced forces and vibrations.

[0157] In one embodiment, for example, the control method includes: performing proportional-integral PI control on the two motors to achieve target speeds, and performing standard speed tracking through speed error feedback and a current inner loop; secondly, processing the pressure feedback measured by a pressure sensor in the flexible coupling at the mid-shaft into a proportional-integral PI control signal, and using it as the desired current adjustment signal. The tracking value is reduced for the motor with greater force and increased for the motor with less force, in order to eliminate the unbalanced force.

[0158] The above description is merely a preferred embodiment of this application and is not intended to limit the application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A hoist, characterized in that, The hoist includes: Base; Two external rotor motors are arranged along the axial direction of the two external rotor motors. Each external rotor motor includes a stator assembly and a rotor assembly sleeved on the outside of the stator assembly. The stator assembly is fixedly connected to the base and rotates with the rotor assembly. The rotor assemblies of the two external rotor motors define a clutch cavity between them along the axial direction. A drive assembly and a sliding assembly are provided. The sliding assembly is disposed in the clutch cavity and has a linked state and a disengaged state. At least a portion of the drive assembly is disposed on the base and located outside the clutch cavity. The drive assembly is capable of driving the sliding assembly to switch between the linked state and the disengaged state. In the linked state, the sliding assembly connects the rotor assemblies of the two external rotor motors. In the disengaged state, the sliding assembly separates the rotor assemblies of the two external rotor motors.

2. The hoist according to claim 1, characterized in that, One of the two external rotor motors is a first motor and the other is a second motor. The sliding assembly includes a sliding member, a first connecting part, and a second connecting part. The first connecting part is connected to the rotor assembly of the first motor, and the second connecting part is connected to the rotor assembly of the second motor. The drive assembly is capable of driving the sliding member to separate from at least one of the first connecting part and the second connecting part, and to connect to the first connecting part and the second connecting part respectively, so as to switch between the separated state and the linked state.

3. The hoist according to claim 2, characterized in that, The drive assembly includes a transmission rod, a drive member, and a first elastic member. One end of the first elastic member is connected to the movable member, and the other end is connected to the rotor assembly of the first motor or the rotor assembly of the second motor. A portion of the drive member is disposed on the base, and the transmission rod is movably disposed within the rotor assembly of the first motor along the axial direction. The driving member can drive the transmission rod to move along the axial direction toward the moving member, so as to extend into the clutch cavity and push the moving member to separate from at least one of the first connecting part and the second connecting part, and the first elastic member generates elastic deformation and stores elastic potential energy; The driving member can drive the transmission rod to move away from the sliding member along the axial direction, so that the transmission rod retracts into the rotor assembly of the first motor, and the first elastic member releases elastic potential energy to push the sliding member to connect with the first connecting part and the second connecting part respectively.

4. The hoist according to claim 3, characterized in that, The driving component includes a power source, a telescopic rod, and a second elastic element. The power source is disposed on the base and drivenly connected to the telescopic rod. The second elastic element is disposed on the transmission rod. The power source drives the telescopic rod to extend into the rotor assembly of the first motor and pushes the transmission rod to move along the axial direction toward the movable member. The second elastic element generates elastic deformation and stores elastic potential energy. The power source drives the telescopic rod to retract, and the second elastic element releases the elastic potential energy to push the transmission rod to move along the axial direction away from the movable member.

5. The hoist according to claim 3, characterized in that, A pulley is provided at one end of the transmission rod near the movable component.

6. The hoist according to claim 3, characterized in that, Both the first connecting portion and the second connecting portion are cylindrical. The second connecting portion is sleeved on the outside of the first connecting portion to define an annular gap along the radial direction of the outer rotor motor. The moving member includes an annular portion and a rod portion. The rod portion is disposed on the end face of the annular portion along the axial direction and slides in cooperation with the rotor assembly of the first motor or the rotor assembly of the second motor along the axial direction. The first elastic member is sleeved on the rod portion. The annular portion can enter the annular gap under the push of the first elastic member, so that the inner ring and outer ring of the annular portion are connected to the first connecting portion and the second connecting portion respectively. The annular portion can disengage from the annular gap under the push of the transmission rod, so that the inner ring of the annular portion is separated from the first connecting portion.

7. The hoist according to claim 6, characterized in that, The number of rods and driving components are both multiple. Multiple rods are arranged at intervals along the circumference of the outer rotor motor in the annular portion. Multiple driving components are arranged at intervals along the circumference of the outer rotor motor. Each rod is fitted with at least one first elastic part. Multiple transmission rods and multiple first elastic parts can push the annular portion to move along the axial direction.

8. The hoist according to claim 6, characterized in that, At least a portion of the outer surface of the first connecting portion is formed with a first toothed structure, and at least a portion of the inner ring of the annular portion is formed with a second toothed structure. The first toothed structure is used to limit the outer rotor motor circumferentially with the second toothed structure.

9. The hoist according to claim 6, characterized in that, At least a portion of the inner surface of the second connecting portion is formed with a third tooth structure, and at least a portion of the outer ring of the annular portion is formed with a fourth tooth structure. The third tooth structure is used to limit the outer rotor motor circumferentially with the fourth tooth structure.

10. The hoist according to claim 7, characterized in that, The first connecting portion and / or the second connecting portion are provided with a stop portion, which is used to limit the annular portion along the axial direction.

11. The hoist according to claim 1, characterized in that, The hoist also includes a wire rope, a hoisting container, and a balancing mechanism. The balancing mechanism includes a base and multiple pulley assemblies. The base is connected to the hoisting container. Each pulley assembly is rotatably mounted on the base. The line connecting the rotation centers of each pulley assembly is an arc. The two ends of the wire rope are connected to the rotor assembly. The middle part of the wire rope passes around each pulley assembly sequentially along the arc.

12. The hoist according to claim 11, characterized in that, The pulley assembly includes a pulley component, a permanent magnet component, and a conductor. The pulley component is rotatably connected to the base. The permanent magnet component is disposed on the pulley component, and the conductor is disposed on the base. The pulley component rotates relative to the fixed component so that the conductor can generate an induced current and generate a reverse electromagnetic torque on the permanent magnet component.

13. A control method applied to the hoist according to any one of claims 1 to 12, characterized in that, The control method includes: The drive assembly is controlled to drive the moving assembly to switch between the linked state and the separated state, so as to connect and disconnect the rotor assemblies of the two external rotor motors.

14. The control method according to claim 13, characterized in that, The hoist includes a coupling and a pressure sensor. The stator assemblies of the two external rotor motors are connected via the coupling. The pressure sensor is disposed within the coupling. The control method further includes: The torsional force between the two stator assemblies is measured using the pressure sensor. The controller adjusts the current of the two external rotor motors based on the unbalanced torsional force to adjust the output torque of the two external rotor motors.

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