Combined type synchronous control system of four-drive hoisting mechanism

Abstract

The utility model discloses a four-drive hoisting mechanism combined type synchronous control system, which relates to the technical field of automation control, and comprises a hoisting mechanism and a controller, the hoisting mechanism comprises a rack, a movable pulley device, a fixed pulley device, a steel wire rope and two groups of duplex winding drums arranged in parallel, the duplex winding drums are rotatably connected with the rack, and the controller is connected with the controller. The fixed pulley device is arranged between the two sets of duplex winding drums, the axis of the fixed pulley device is parallel to the center line of the winding drums, the movable pulley device is arranged below the duplex winding drums through steel wire ropes, the two ends of each duplex winding drum are provided with a position sensor and a load sensor respectively, and the duplex winding drums are in non-mechanical synchronous connection. The duplex winding drum is formed by mechanically and synchronously connecting two drives through the winding drum, in order to ensure the stress balance of the four driving systems, the control system gives consideration to multiple synchronization modes, the four-drive hoisting mechanism can be well and synchronously controlled in a combined mode, four-drive load balance is achieved, and the hoisting point balance requirement in hoisting is met.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic control, in particular to a compound synchronous control system of a four-drive hoisting mechanism. Background Art

[0002] The main hoisting mechanism of the 10,000kN bidirectional inclined-stayed gantry crane has a large lifting capacity, and the motor layout is very different from that of conventional gantry cranes. The original conventional single / dual drive control mode can no longer meet the electrical synchronous control requirements of the multi-drive combination mode. This has never been encountered in the design and manufacture of gantry cranes in the past. How to achieve synchronous control of the rigid connection, flexible connection and multiple motors of the hoisting mechanism of the gantry crane and improve the stability and reliability of the gantry crane control system will be the focus of research. Utility Model Content

[0003] The utility model aims to provide a compound synchronous control system for a four-drive lifting mechanism. There is no mechanical synchronous connection between the two double drums. The double drums are mechanically synchronously connected by two drives through the drums. In order to ensure the force balance of the four drive systems, the control system takes into account multiple synchronization methods, including: four-drive compound synchronous control, front double drum mechanical synchronous control, and rear double drum mechanical synchronous control. It can well control the compound synchronization of the four-drive lifting mechanism, realize the four-drive load balance, and meet the lifting point balance requirements during lifting.

[0004] In order to achieve the above-mentioned purpose of the invention, the technical solution of the present utility model is as follows:

[0005] A four-drive lifting mechanism composite synchronous control system includes a lifting mechanism and a controller. The lifting mechanism includes a frame, a movable pulley device, a fixed pulley device, a wire rope and two sets of parallel double drums. The double drum is rotatably connected to the frame. The fixed pulley device is arranged between the two sets of double drums. The axis of the fixed pulley device is parallel to the center line of the drum. The movable pulley device is arranged below the double drum through the wire rope. The double drum includes a drum device. Both ends of the drum device are respectively connected to the motor through a reducer. One end of the wire rope is fixedly connected to one set of double drums, and the other end of the wire rope is fixedly connected to the other set of double drums after passing around the fixed pulley device and the movable pulley device. Position sensors and load sensors are respectively provided at both ends of the double drum. The position sensor, load sensor and motor are respectively electrically connected to the controller.

[0006] The fixed pulley device comprises a fixed pulley and a fixed pulley beam, the fixed pulley beam is fixedly connected to the frame, and the fixed pulley is rotatably connected to the fixed pulley beam.

[0007] The frame is also provided with an operating mechanism knob switch, which is electrically connected to the controller.

[0008] The motor is connected to the frame through a motor bracket. The output shaft of the motor is drivingly connected to the input shaft of the reducer. The output shaft of the reducer is drivingly connected to a double drum. The reducer is installed on the side of the drum device through a reducer bracket.

[0009] Both ends of the input shaft of the reducer penetrate the reducer and extend outside the reducer. One end of the input shaft of the reducer is drivingly connected to the motor output shaft through a coupling I. The other end of the input shaft of the reducer is connected with a brake disc I through a coupling II. A brake I that cooperates with the brake disc I is arranged on the frame. The brake adopts 2 YP type electro-hydraulic disc brakes, one set for working brake; the other set for auxiliary brake.

[0010] A protective cover is arranged outside the coupling I.

[0011] One end of the drum device is provided with a brake disc II. The brake disc II is sleeved outside the drum device. A brake II that cooperates with the brake disc is arranged at a position corresponding to the brake disc on one side of the drum device. The brake II is connected to the frame through a brake II bracket. A pump station is also arranged on the frame. The pump station is connected to the brake II through a high-pressure oil pipe;

[0012] The brake II adopts an SB type hydraulic disc brake. 4 sets of SB type hydraulic disc brakes are installed on each brake disc II for safety braking. The SB type hydraulic disc brake is driven by a hydraulic pump station. A high-pressure oil pipe is used for connection between the hydraulic pump station and the safety brake.

[0013] A weight type limit device is arranged on the movable pulley device.

[0014] An oiling assembly is arranged on the fixed pulley device. The oiling device is arranged above the fixed pulley device. The oiling device is in rolling surface contact with the steel wire rope on the fixed pulley. The function of the oiling assembly is to oil the steel wire rope to keep it oil-lubricated, reducing the workload and safety risks of manual oiling.

[0015] The beneficial effects of the present utility model:

[0016] In the present utility model, mechanical synchronous control is adopted between the two drives on each double drum. The motor at one end of the double drum is the main machine, and the motor at the other end is the slave machine. Master-slave torque control is adopted, and the slave machine always runs with the same torque as the master machine; electrical synchronous control is adopted between the front double drum and the rear double drum. The height value of the front double drum is used as the synchronous reference height. The deviation between the height of the rear double drum and the reference height is dynamically judged. When the height deviation exceeds the deviation correction input value, the deviation type is intelligently discriminated, and deviation correction is performed according to the preset type. If the height deviation exceeds the deviation correction alarm value, a deviation correction fault and a stop instruction are output, and the system immediately stops running. Description of the Drawings

[0017] Figure 1 This is a schematic structural diagram of the four-drive hoisting mechanism compound synchronous control system of the present utility model.

[0018] Figure 2 This is a top view of the four-drive hoisting mechanism compound synchronous control system of the present utility model.

[0019] Figure 3 This is a side view of the four-drive hoisting mechanism compound synchronous control system of the present utility model.

[0020] Figure 4 This is an operation flowchart of the four-drive hoisting mechanism compound synchronous control system of the present utility model.

[0021] Figure 5 This is a deviation correction processing flowchart of the four-drive hoisting mechanism compound synchronous control system of the present utility model.

[0022] Figure 6 This is a synchronization detection processing flowchart of the four-drive hoisting mechanism compound synchronous control system of the present utility model.

[0023] Among them, 1. Double drum; 2. Frame; 3. Drum device; 4. Motor; 5. Reducer; 6. Steel wire rope; 7. Position sensor; 8. Load sensor; 9. Coupling Ⅰ; 10. Coupling Ⅱ; 11. Brake disc Ⅰ; 12. Brake Ⅰ; 13. Protective cover; 14. Brake disc Ⅱ; 15. Brake Ⅱ; 16. Pump station; 17. Hammer type limit device; 18. Greasing component; 19. Fixed pulley device; 20. Movable pulley device. Specific embodiments

[0024] The following further describes the present utility model in detail in conjunction with embodiments, but the implementation manners of the present utility model are not limited thereto.

[0025] Embodiment 1

[0026] This embodiment provides as Figures 1-3The shown four-drive lifting mechanism composite synchronous control system includes a lifting mechanism and a controller. The lifting mechanism includes a frame 2, a movable pulley device 20, a fixed pulley device 19, a wire rope 6 and two groups of parallel double drums 1. The double drum 1 is rotatably connected to the frame 2. The fixed pulley device 19 is arranged between the two groups of double drums 1. The axis of the fixed pulley device 19 is parallel to the center line of the drum. The movable pulley device 20 is arranged below the double drum 1 through the wire rope 6. The double drum 1 includes a drum device 3. Both ends of the drum device 3 are respectively connected to the motor 4 through the reducer 5. One end of the wire rope 6 is fixedly connected to one group of double drums 1, and the other end of the wire rope 6 is fixedly connected to the other group of double drums 1 after passing around the fixed pulley device 19 and the movable pulley device 20. The two ends of the double drum 1 are respectively provided with a position sensor 7 and a load sensor 8. The position sensor 7, the load sensor 8 and the motor 4 are electrically connected to the controller. The fixed pulley device 19 includes a fixed pulley and a fixed pulley beam. The fixed pulley beam is fixedly connected to the frame 2, and the fixed pulley is rotatably connected to the fixed pulley beam.

[0027] The frame 2 is also provided with an operating mechanism knob switch, which is electrically connected to the controller.

[0028] In this embodiment, the controller adopts a programmable controller PLC, the position sensor 7 adopts an absolute encoder, the load sensor 8 adopts a pin-type load sensor 8, the reducer 5 adopts a hard tooth surface reducer, and the motor 4 includes a drive inverter and a drive motor. The drive inverter adopts a special inverter for lifting, the drive motor adopts a YZP variable frequency motor, and the operating mechanism knob switch adopts a three-position knob switch.

[0029] It includes the front double reel 1 and the rear double reel 1, the motor 4 of the front double reel 1 is motor No. 1 4 and motor No. 2 4, the motor 4 of the rear double reel 1 is motor No. 3 4 and motor No. 4 4, motor No. 1 includes drive motor No. 1 and drive inverter No. 1, motor No. 2 includes drive motor No. 2 and drive inverter No. 2, motor No. 3 includes drive motor No. 3 and drive inverter No. 3, and motor No. 4 includes drive motor No. 4 and drive inverter No. 4.

[0030] In this embodiment, the operating mechanism knob switch is connected to the controller through a signal cable, and the controller receives an input operating mode selected by the operating mechanism knob switch, such as one of the four-drive compound synchronous control, the front double reel 1 mechanical synchronous control, and the rear double reel 1 mechanical synchronous control. Figure 4 As shown, the operation process of the four-drive hoisting mechanism composite synchronous control system in this embodiment includes the following steps:

[0031] 1) When the rear double-drum reel 1 malfunctions and cannot be used normally, or when it is necessary to adjust the number of winding turns of the wire rope 6 on the front double-drum reel 1, the front double-drum reel 1 can be operated alone. When the operating mode of the controller operating mechanism is the mechanical synchronous control of the front double-drum reel 1, the controller generates the operating speed word of the No. 1 drive frequency converter. The No. 1 drive frequency converter outputs the operating frequency to the No. 1 drive motor according to the operating speed word. The No. 1 drive frequency converter and the No. 2 drive frequency converter internally form a master-slave torque control. The No. 1 drive frequency converter sends the real-time torque value to the No. 2 drive frequency converter, and the No. 2 drive frequency converter outputs the same torque signal to the No. 2 drive motor to drive the front double-drum reel 1 to operate;

[0032] 2) When the front double-drum reel 1 malfunctions and cannot be used normally, or when it is necessary to adjust the number of winding turns of the wire rope 6 on the rear double-drum reel 1, the rear double-drum reel 1 can be operated alone. When the operating mode of the controller operating mechanism is the mechanical synchronous control of the rear double-drum reel 1, the controller generates the operating speed word of the No. 3 drive frequency converter. The No. 3 drive frequency converter outputs the operating frequency to the No. 3 drive motor according to the operating speed word. The No. 3 drive frequency converter and the No. 4 drive frequency converter internally form a master-slave torque control. The No. 3 drive frequency converter sends the real-time torque value to the No. 4 drive frequency converter, and the No. 4 drive frequency converter outputs the same torque signal to the No. 4 drive motor to drive the rear double-drum reel 1 to operate;

[0033] 3) When the equipment is used normally, the front double-drum reel 1 and the rear double-drum reel 1 need to operate simultaneously. When the operating mode of the controller operating mechanism is the four-drive compound synchronous control, the position sensor 7 monitors the positions of the front double-drum reel 1 and the rear double-drum reel 1 in real time. The controller takes the No. 1 drive as the synchronous reference height, calculates the height deviation between the No. 1 drive and the No. 3 drive in real time, and compares the speed synchronization of the No. 1 drive and the No. 3 drive. Through program logic judgment, when the operating speed of the No. 1 drive is slower or the operating speed of the No. 3 drive is faster, the controller appropriately reduces the output operating frequency of the No. 3 drive frequency converter. When the operating speed of the No. 1 drive is faster or the operating speed of the No. 3 drive is slower, the controller appropriately increases the output operating frequency of the No. 3 drive frequency converter. When the positions of the No. 1 drive and the No. 3 drive are not much different, the output operating frequency of the No. 3 drive frequency converter is not adjusted. If the height deviation exceeds the deviation correction alarm value, the deviation correction fault and stop instruction are output, and the system immediately stops running; thus realizing the four-drive compound synchronous operation.

[0034] In this embodiment, as Figure 5 shown, the working process of the four-drive hoisting mechanism compound synchronous control system in height deviation calculation, speed synchronization judgment, and deviation correction strategy includes the following steps:

[0035] 1) When the deviation correction is removed, the system will never activate the deviation correction program, and the controller does not process the input speed, that is, the output speed = the input speed. The controller does not detect the deviation alarm, and the deviation alarm is never activated;

[0036] 2) When deviation correction is enabled, the controller combines data such as the driving operation direction, reference height, and input height, performs deviation correction judgment through deviation calculation and preset deviation correction parameters. When the deviation correction input value is reached, the deviation correction output speed control is adjusted according to the preset parameter adjustment coefficient. When the deviation correction stop value is reached, the deviation correction control is exited. When the deviation exceeds the deviation correction alarm value, the deviation alarm output signal is activated and the system immediately stops running;

[0037] 3) When deviation correction is enabled, when |reference height - input height| < deviation correction input value, the deviation correction control program is not activated, and at this time the output speed of the controller = input speed;

[0038] 4) When deviation correction is enabled, when |reference height - input height| ≥ deviation correction input value, the deviation correction control program is activated. When the deviation correction reference height - input height ≥ 0 and the driving operation direction is upward operation, at this time the deviation correction driving speed is too slow and speed increase processing is required, and the output speed = (1 + deviation correction coefficient) × input speed; when the deviation correction reference height - input height ≥ 0 and the driving operation direction is downward operation, at this time the deviation correction driving speed is too fast and speed reduction processing is required, and the output speed = (1 - deviation correction coefficient) × input speed; when the deviation correction reference height - input height < 0 and the driving operation direction is upward operation, at this time the deviation correction driving speed is too fast and speed reduction processing is required, and the output speed = (1 - deviation correction coefficient) × input speed; when the deviation correction reference height - input height < 0 and the driving operation direction is downward operation, at this time the deviation correction driving speed is too slow and speed increase processing is required, and the output speed = (1 + deviation correction coefficient) × input speed;

[0039] 5) After the deviation correction control program is activated and after a period of system deviation correction, when |reference height - input height| < deviation correction stop value, at this time the deviation correction control program is released and the output speed of the controller = input speed;

[0040] 6) When deviation correction is enabled, if the output speed calculated inside the deviation correction controller < deviation correction minimum speed, the output speed of the deviation correction controller = deviation correction minimum speed.

[0041] In this embodiment, as Figure 6 shown, the working process of the four-drive hoisting mechanism compound synchronous control system in terms of drive synchronization and load balance alarm strategy includes the following steps:

[0042] 1) When the synchronous detection is removed, the synchronous detection program is never activated, the synchronous detection controller does not process the input height and load data, and the height difference alarm and weight difference alarm are never activated;

[0043] 2) When the synchronous detection is enabled, the synchronous detection controller combines the driving height and load data, and performs deviation judgment through difference calculation and a preset maximum difference parameter. When the maximum height difference alarm value is reached, the synchronous detection controller activates the height difference alarm output signal; when the maximum weight difference alarm value is reached, the synchronous detection controller activates the weight difference alarm output signal;

[0044] 3) When the synchronous detection is enabled, when the result of |height of front double drum 1 - height of rear double drum 1| < height difference alarm value is true, the synchronous detection controller does not activate the height difference alarm output signal;

[0045] 4) When the synchronous detection is enabled, when the result of |height of front double drum 1 - height of rear double drum 1| ≥ height difference alarm value is true, the synchronous detection controller activates the height difference alarm output signal;

[0046] 5) When the synchronous detection is enabled, when the result of |load of front double drum 1 - load of rear double drum 1| < weight difference alarm value is true, the synchronous detection controller does not activate the weight difference alarm output signal;

[0047] 6) When the synchronous detection is enabled, when the result of |load of front double drum 1 - load of rear double drum 1| ≥ weight difference alarm value is true, the synchronous detection controller activates the weight difference alarm output signal.

[0048] Embodiment 2

[0049] Compared with Embodiment 1, the difference in this embodiment is that in this embodiment, the motor 4 is connected to the frame 2 through the motor 4 bracket, the output shaft of the motor 4 is in transmission connection with the input shaft of the reducer 5, the output shaft of the reducer 5 is in transmission connection with the double drum 1, and the reducer 5 is installed on the side of the drum device 3 through the reducer 5 bracket. Both ends of the input shaft of the reducer 5 penetrate through the reducer 5 and extend outside the reducer 5. One end of the input shaft of the reducer 5 is in transmission connection with the motor output shaft through the coupling Ⅰ9, and the other end of the input shaft of the reducer 5 is connected with a brake disc Ⅰ11 through the coupling Ⅱ10. A brake Ⅰ12 is provided on the frame 2 and is matched with the brake disc Ⅰ11. A protective cover 13 is arranged outside the coupling Ⅰ9. The rest of the structure is the same as that of Embodiment 1.

[0050] In this embodiment, 2 brakes Ⅰ12 are arranged on the output shaft of each reducer 5. The brake Ⅰ12 adopts a YP type electro-hydraulic disc brake. One YP type electro-hydraulic disc brake is used for working braking, and the other YP type electro-hydraulic disc brake is used for auxiliary.

[0051] Embodiment 3

[0052] Compared with Embodiment 1, this embodiment is different in that in this embodiment, a second brake disc 14 is provided at one end of the reel device 3. The second brake disc 14 is sleeved outside the reel device 3. At a position on one side of the reel device 3 corresponding to the brake disc, a second brake 15 is provided which cooperates with the brake disc. The second brake 15 is connected to the frame 2 through a second brake support. A pump station 16 is further provided on the frame 2. The pump station 16 is connected to the second brake 15 through a high-pressure oil pipe; the rest of the structure is the same as that of Embodiment 1.

[0053] The second brake 15 adopts an SB type hydraulic disc brake. 4 sets of SB type hydraulic disc brakes are installed on each second brake disc 14 for safety braking. The SB type hydraulic disc brake is driven by a hydraulic pump station 16, and the hydraulic pump station 16 is connected to the safety brake through a high-pressure oil pipe.

[0054] Embodiment 4

[0055] Compared with Embodiment 1, this embodiment is different in that in this embodiment, a weight type limit device 17 is provided on the movable pulley device 20, and the rest of the structure is the same as that of Embodiment 1.

[0056] In this embodiment, the weight type limit device 17 is selected with the model YBLX-10 / 32J. The weight type limit device 17 includes a weight type load lever operating arm, a limit switch and a weight. The weight type load lever operating arm is connected to the weight through a steel wire rope 6. When the movable pulley rises to the limit, the flat plate installed on the pulley will lift the weight, the steel wire rope 6 will relax, and the weight on the weight type load lever operating arm limit switch will change from one state to another state, driving the electrical limit switch inside the weight type load lever operating arm limit switch to act. The function of the limit device is to provide limit position protection for the hoisting mechanism and prevent the occurrence of over-travel accidents.

[0057] Embodiment 5

[0058] Compared with Embodiment 1, this embodiment is different in that in this embodiment, an oiling assembly 18 is provided on the fixed pulley device 19. The oiling device is arranged above the fixed pulley device 19, and the oiling device is in rolling surface contact with the steel wire rope 6 on the fixed pulley. The rest of the structure is the same as that of Embodiment 1.

[0059] The oiling assembly 18 in this embodiment belongs to the conventional technical means in the art. For those skilled in the art, it can be obtained according to the conventional means in the art. Therefore, the relevant structure and drawings are not provided; the function of the oiling assembly 18 is to oil the steel wire rope 6 to keep it lubricated with oil, reducing the workload and safety risk of manual oiling.

[0060] It is understood that the present utility model is described through some embodiments. Those skilled in the art know that without departing from the spirit and scope of the present utility model, various changes or equivalent substitutions can be made to these features and embodiments. Additionally, under the teaching of the present utility model, these features and embodiments can be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present utility model.

Claims

1. A compound synchronous control system for a four-drive lifting mechanism, characterized in that: The invention comprises a lifting mechanism and a controller, wherein the lifting mechanism comprises a frame (2), a movable pulley device (20), a fixed pulley device (19), a steel wire rope (6) and two sets of parallel double drums (1), wherein the double drums (1) are rotatably connected to the frame (2), the fixed pulley device (19) is arranged between the two sets of double drums (1), the axis of the fixed pulley device (19) is parallel to the center line of the drum, the movable pulley device (20) is arranged below the double drums (1) through the steel wire rope (6), and the double drums (1) include a drum device (3). Both ends of the drum device (3) are connected to the motor (4) through a speed reducer (5), one end of the wire rope (6) is fixedly connected to a set of double drums (1), and the other end of the wire rope (6) is fixedly connected to another set of double drums (1) after passing through a fixed pulley device (19) and a movable pulley device (20). A position sensor (7) and a load sensor (8) are respectively provided at both ends of the double drum (1), and the position sensor (7), the load sensor (8) and the motor (4) are respectively electrically connected to a controller.

2. The four-drive hoisting mechanism compound synchronous control system according to claim 1, wherein: The fixed pulley device (19) comprises a fixed pulley and a fixed pulley beam, the fixed pulley beam is fixedly connected to the frame (2), and the fixed pulley is rotatably connected to the fixed pulley beam.

3. The four-drive hoisting mechanism compound synchronous control system according to claim 1, characterized in that: The frame (2) is also provided with an operating mechanism knob switch, and the operating mechanism knob switch is electrically connected to the controller.

4. The four-drive hoisting mechanism compound synchronous control system according to claim 1, characterized in that: The motor (4) is connected to the frame (2) via a motor (4) bracket, the output shaft of the motor (4) is transmission-connected to the input shaft of the reducer (5), the output shaft of the reducer (5) is transmission-connected to the double reel (1), and the reducer (5) is installed on the side of the reel device (3) via the reducer (5) bracket.

5. The four-drive hoisting mechanism compound synchronous control system according to claim 1, wherein: Both ends of the input shaft of the reducer (5) pass through the reducer (5) and extend to the outside of the reducer (5). One end of the input shaft of the reducer (5) is connected to the output shaft of the motor through a coupling I (9). The other end of the input shaft of the reducer (5) is connected to a brake disc I (11) through a coupling II (10). A brake I (12) that matches the brake disc I (11) is provided on the frame (2).

6. The four-drive hoisting mechanism compound synchronous control system according to claim 5, characterized in that: A protective cover (13) is provided on the outer side of the coupling I (9).

7. The four-drive hoisting mechanism compound synchronous control system according to claim 1, characterized in that: A brake disc II (14) is provided at one end of the reel device (3), and the brake disc II (14) is sleeved on the outside of the reel device (3). A brake II (15) that matches the brake disc is provided at a position corresponding to the brake disc on one side of the reel device (3). The brake II (15) is connected to the frame (2) through a brake II (15) bracket. A pump station (16) is also provided on the frame (2), and the pump station (16) is connected to the brake II (15) through a high-pressure oil pipe.

8. The four-drive hoisting mechanism compound synchronous control system according to claim 1, wherein: A heavy hammer type limiting device (17) is provided on the movable pulley device (20).

9. The four-drive hoisting mechanism compound synchronous control system according to claim 1, wherein: The fixed pulley device (19) is provided with an oiling assembly (18), which is arranged on the upper side of the fixed pulley device (19). The oiling assembly is in rolling surface contact with the steel wire rope (6) on the fixed pulley.

Images