CA2830114A1 - Method and device for controlling a lifting machine, a storage medium, and a lifting machine system - Google Patents
Method and device for controlling a lifting machine, a storage medium, and a lifting machine system Download PDFInfo
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- CA2830114A1 CA2830114A1 CA2830114A CA2830114A CA2830114A1 CA 2830114 A1 CA2830114 A1 CA 2830114A1 CA 2830114 A CA2830114 A CA 2830114A CA 2830114 A CA2830114 A CA 2830114A CA 2830114 A1 CA2830114 A1 CA 2830114A1
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000003860 storage Methods 0.000 title claims description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 119
- 238000001514 detection method Methods 0.000 claims description 9
- 230000003213 activating effect Effects 0.000 claims description 5
- 230000009183 running Effects 0.000 claims 2
- 238000012544 monitoring process Methods 0.000 abstract description 6
- 238000011068 loading method Methods 0.000 description 15
- 230000001276 controlling effect Effects 0.000 description 14
- 239000003921 oil Substances 0.000 description 8
- 230000000087 stabilizing effect Effects 0.000 description 7
- 229910000831 Steel Inorganic materials 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241001052209 Cylinder Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003405 preventing effect Effects 0.000 description 1
- 229940036310 program Drugs 0.000 description 1
- 230000001603 reducing effect Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B17/00—Hoistway equipment
- B66B17/34—Safe lift clips; Keps
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- Elevator Control (AREA)
- Control And Safety Of Cranes (AREA)
- Types And Forms Of Lifts (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The present invention provides a method and a device for controlling a lifting machine (2), in which at the time of releasing a cage (1), the lifting machine is controlled, according to the withdrawal status of latches (12) above or below stop blocks for fixing (10), to automatically complete a coordinating movement up- wards or downwards and then to perform a normal movement to the destination position thereof. The control method and device of the present invention have significantly improved the operational efficiency of the lifting machine, have comprehensive safety monitoring of a cage locking system to avoid human operation errors, have very high safety performance, and at the same time have reduced the brake wearing therein.
Description
Description Method and device for controlling a lifting machine, a stor-age medium, and a lifting machine system The present invention relates to a method and device for con-trolling a lifting machine, a storage medium, and a lifting machine system and, especially, to a method and device for controlling a lifting machine of a cage operating in a shaft, a storage medium, and a lifting machine system including the device.
During the loading and unloading of the lifting machine in the mine well, the shake table receiving device needs to be connected to the inner and outer vehicle tracks so as to avoid an impact load from directly applying on the cage and avoid the overlarge elongation volume of the steel wire rope due to an overlarge load. When a heavy platform car (the ma-ximum mass is about 39 tons) enters or exits the cage, the elongation volume of the steel wire rope is large, and the elongation volume is even larger for the lifting in a deep well, in which case when the equipment enters or exits the cage, the cage would jump up and down with instability, caus-ing the equipment to not be able to enter or exit the cage conveniently, reliably or stably.
Currently, commonly used supporting devices for the in-ner/outer connection of a cage include support machines and shake tables. The support machine requires that the cage must have an individual movable base plate, which causes the cage structure to be complicated and large in mass, and at the sa-me time, the operation time is rather long, increasing the lifting cycle time. When the shake table is receiving the ca-ge, the cage is in a hanging state, due to the elastic defor-mation of the lifting steel wire rope and the impact to the cage when a mine car enters/exits the cage, the cage is cau-sed to jump up and down and swing from side to side, and it
During the loading and unloading of the lifting machine in the mine well, the shake table receiving device needs to be connected to the inner and outer vehicle tracks so as to avoid an impact load from directly applying on the cage and avoid the overlarge elongation volume of the steel wire rope due to an overlarge load. When a heavy platform car (the ma-ximum mass is about 39 tons) enters or exits the cage, the elongation volume of the steel wire rope is large, and the elongation volume is even larger for the lifting in a deep well, in which case when the equipment enters or exits the cage, the cage would jump up and down with instability, caus-ing the equipment to not be able to enter or exit the cage conveniently, reliably or stably.
Currently, commonly used supporting devices for the in-ner/outer connection of a cage include support machines and shake tables. The support machine requires that the cage must have an individual movable base plate, which causes the cage structure to be complicated and large in mass, and at the sa-me time, the operation time is rather long, increasing the lifting cycle time. When the shake table is receiving the ca-ge, the cage is in a hanging state, due to the elastic defor-mation of the lifting steel wire rope and the impact to the cage when a mine car enters/exits the cage, the cage is cau-sed to jump up and down and swing from side to side, and it
2 PCT/EP2012/054244 is quite possible that the mine car falls off the track. The cart equipment coordinated with the shake table is generally in an upward slope state, which requires a relatively larger pushing force of the cart, and when passing by the up-ward/downward slope of the shake table at the time of enter-ing/exiting the cage, it is quite possible that the personnel may slip and fall, which is very unsafe.
In Chinese patent application No. 200810150532.8 entitled "Cage stabilizing/cage locking device for shaft cage", a cage stabilizing/cage locking device for a shaft cage is dis-closed, and a converting platform capable of receiving and locking the cage to is also disclosed in the portion of back-ground art, which converting platform is composed of a cage stabilizing rocker arm, a centering device, a buffering oil cylinder, etc., and the working principle thereof is as fol-lows: when the cage is resting at the bottom of the well, the cage stabilizing rocker arm is placed onto the cage, in the cage stabilizing rocker arm there is a centering device pro-jected into a hole preserved in the top of the cage, and the buffering oil cylinder holds the centering device up and can dynamically absorb the energy generated by the elastic defor-mation of the steel wire rope.
It can be seen that the above cage stabilizing/cage locking device for a shaft cage and the converting platform are quite complicated in structure, and a cumbersome program is needed to effectively control the hosting machine so as to raise and lower the cage.
The present invention aims to provide a method for control-ling a lifting machine in a simple and direct manner and a corresponding device thereof, wherein after a load-ing/unloading operation is completed at a shaft level, the lifting machine can be controlled to release the cage locking device in a simple manner and operate to the next shaft level destination position.
In Chinese patent application No. 200810150532.8 entitled "Cage stabilizing/cage locking device for shaft cage", a cage stabilizing/cage locking device for a shaft cage is dis-closed, and a converting platform capable of receiving and locking the cage to is also disclosed in the portion of back-ground art, which converting platform is composed of a cage stabilizing rocker arm, a centering device, a buffering oil cylinder, etc., and the working principle thereof is as fol-lows: when the cage is resting at the bottom of the well, the cage stabilizing rocker arm is placed onto the cage, in the cage stabilizing rocker arm there is a centering device pro-jected into a hole preserved in the top of the cage, and the buffering oil cylinder holds the centering device up and can dynamically absorb the energy generated by the elastic defor-mation of the steel wire rope.
It can be seen that the above cage stabilizing/cage locking device for a shaft cage and the converting platform are quite complicated in structure, and a cumbersome program is needed to effectively control the hosting machine so as to raise and lower the cage.
The present invention aims to provide a method for control-ling a lifting machine in a simple and direct manner and a corresponding device thereof, wherein after a load-ing/unloading operation is completed at a shaft level, the lifting machine can be controlled to release the cage locking device in a simple manner and operate to the next shaft level destination position.
3 Provided in the present invention is a method for controlling a lifting machine, wherein said lifting machine is used for lifting a cage operating within a shaft, said cage is pro-vided with a plurality of stop blocks for fixing, the wall base of said shaft is deployed with a plurality of latches, with said latches being used for maintaining the position of said cage by moving in the directions approaching said cage when said cage stopped in place so as to be fixed above and below said stop blocks for fixing, and when said cage needs to be released, said latches are moved in the directions away from said cage, so as to have said cage released after all of them have been withdrawn, releasing said cage, detecting the withdrawal status of said latches, and sending out a latch withdrawn signal;
sending out a shaft signal for a coordinating movement if it is indicated by said latch withdrawn signal that said lat-ches above/below said stop blocks for fixing have been with-drawn in one direction but not all of those in the other di-rection have been withdrawn;
activating said lifting machine to pull said cage to car-ry out said coordinating movement after having received said shaft signal;
detecting the withdrawal status of said latches under predetermined conditions after having carried out said coor-dinating movement, and sending out a detection signal; and pulling by said lifting machine said cage so as to run directly to a destination position if it is indicated by said detection signal that all of said latches have been withdrawn under the predetermined conditions.
It can be seen that the operator of the lifting machine only needs to operate the lifting machine once, and the lifting machine can automatically complete the coordinating movement as required and perform a normal movement to the destination position thereof by releasing and applying braking for one time, significantly enhancing the operational efficiency of
sending out a shaft signal for a coordinating movement if it is indicated by said latch withdrawn signal that said lat-ches above/below said stop blocks for fixing have been with-drawn in one direction but not all of those in the other di-rection have been withdrawn;
activating said lifting machine to pull said cage to car-ry out said coordinating movement after having received said shaft signal;
detecting the withdrawal status of said latches under predetermined conditions after having carried out said coor-dinating movement, and sending out a detection signal; and pulling by said lifting machine said cage so as to run directly to a destination position if it is indicated by said detection signal that all of said latches have been withdrawn under the predetermined conditions.
It can be seen that the operator of the lifting machine only needs to operate the lifting machine once, and the lifting machine can automatically complete the coordinating movement as required and perform a normal movement to the destination position thereof by releasing and applying braking for one time, significantly enhancing the operational efficiency of
4 PCT/EP2012/054244 the lifting machine, having good safety monitoring for the cage locking system so as to avoid human operation errors, having quite high safety performance, and at the same reduc-ing the brake wearing therein.
As one embodiment, if it is indicated by said latch withdrawn signal that there are still latches that have not been suc-cessfully withdrawn both above and below the stop blocks for fixing, then said lifting machine is locked. If there are still latches not withdrawn both above and below the stop blocks for fixing, it probably means that there a failure has occurred during the withdrawal of the latches, locking the lifting machine at this moment will contribute towards pre-venting accidents from happening.
As one embodiment, if it is indicated by said latch withdrawn signal that all of the latches above and below the stop blocks for fixing have been withdrawn, then a shaft signal for a normal movement is sent out, and after having received said shaft signal, said lifting machine pulls said cage so as to run directly to the destination position. If all of the latches above and below the stop blocks for fixing have been withdrawn, then it indicates that there are no obstacles both above and below the cage, and raising or lowering can be car-ried out according to an instruction.
As one embodiment, if it is indicated by said latch withdrawn signal that all the latches above the stop blocks for fixing have been withdrawn but not all of those therebelow have been withdrawn, then said shaft signal for the coordinating move-ment is one for the cage to carry out a coordinating movement upwards; or if it is indicated by said latch withdrawn signal that all the latches below the stop blocks for fixing have been withdrawn but not all of those thereabove have been with-drawn, then said shaft signal for the coordinating movement
As one embodiment, if it is indicated by said latch withdrawn signal that there are still latches that have not been suc-cessfully withdrawn both above and below the stop blocks for fixing, then said lifting machine is locked. If there are still latches not withdrawn both above and below the stop blocks for fixing, it probably means that there a failure has occurred during the withdrawal of the latches, locking the lifting machine at this moment will contribute towards pre-venting accidents from happening.
As one embodiment, if it is indicated by said latch withdrawn signal that all of the latches above and below the stop blocks for fixing have been withdrawn, then a shaft signal for a normal movement is sent out, and after having received said shaft signal, said lifting machine pulls said cage so as to run directly to the destination position. If all of the latches above and below the stop blocks for fixing have been withdrawn, then it indicates that there are no obstacles both above and below the cage, and raising or lowering can be car-ried out according to an instruction.
As one embodiment, if it is indicated by said latch withdrawn signal that all the latches above the stop blocks for fixing have been withdrawn but not all of those therebelow have been withdrawn, then said shaft signal for the coordinating move-ment is one for the cage to carry out a coordinating movement upwards; or if it is indicated by said latch withdrawn signal that all the latches below the stop blocks for fixing have been withdrawn but not all of those thereabove have been with-drawn, then said shaft signal for the coordinating movement
5 PCT/EP2012/054244 is one for the cage to carry out the coordinating movement downwards.
During the raising or lowering of the cage by the lifting ma-chine, cooperation between the shaft operator and the lifting machine operator is required, in the embodiments of the pre-sent invention, if the shaft operator wants to make the cage reach the destination position, what is needed is to only carry out the same operation once again without sending out a signal for the coordinating movement, that is to say, the shaft operator can only send a normal start instruction once to the lifting machine operator without considering which status the latches are in. Similarly, the lifting machine op-erator also only need to operate the lifting machine once, i.e. control the cage to move to the destination position, and the lifting machine can automatically complete the coor-dinating movement as required to release and brake for one time and to perform the normal movement to the destination position thereof. It is unnecessary for the shaft operator to send out an instruction twice to the lifting machine opera-tor, and the lifting machine operator also need not operate twice, and the lifting machine need not release and brake twice, i.e. without carrying out movement twice. As such, the operational efficiency of the lifting machine can be signifi-cantly enhanced, the cage locking system has comprehensive safety monitoring so as to avoid human operation errors, the-re is quite high safety performance, and at the same time the braking wearing therein is reduced, and the lifting machine can automatically release the cage locking device after a lo-ading/unloading is completed at a shaft level and automati-cally operate to the next shaft level destination position.
As one embodiment, the full withdrawal of said latches under said predetermined conditions is particularly as follows: the distance after said cage has carried out the movement is within a predetermined maximum distance and all of said latches have been withdrawn, or, all of said latches have been withdrawn within a predetermined time period after said cage has reached said predetermined maximum distance.
During the raising or lowering of the cage by the lifting ma-chine, cooperation between the shaft operator and the lifting machine operator is required, in the embodiments of the pre-sent invention, if the shaft operator wants to make the cage reach the destination position, what is needed is to only carry out the same operation once again without sending out a signal for the coordinating movement, that is to say, the shaft operator can only send a normal start instruction once to the lifting machine operator without considering which status the latches are in. Similarly, the lifting machine op-erator also only need to operate the lifting machine once, i.e. control the cage to move to the destination position, and the lifting machine can automatically complete the coor-dinating movement as required to release and brake for one time and to perform the normal movement to the destination position thereof. It is unnecessary for the shaft operator to send out an instruction twice to the lifting machine opera-tor, and the lifting machine operator also need not operate twice, and the lifting machine need not release and brake twice, i.e. without carrying out movement twice. As such, the operational efficiency of the lifting machine can be signifi-cantly enhanced, the cage locking system has comprehensive safety monitoring so as to avoid human operation errors, the-re is quite high safety performance, and at the same time the braking wearing therein is reduced, and the lifting machine can automatically release the cage locking device after a lo-ading/unloading is completed at a shaft level and automati-cally operate to the next shaft level destination position.
As one embodiment, the full withdrawal of said latches under said predetermined conditions is particularly as follows: the distance after said cage has carried out the movement is within a predetermined maximum distance and all of said latches have been withdrawn, or, all of said latches have been withdrawn within a predetermined time period after said cage has reached said predetermined maximum distance.
6 PCT/EP2012/054244 When predetermining the value of the maximum distance, if the maximum distance is too long, then it is possible that the latches may impact the cage, while the setting of a predeter-mined time period which needs to be awaited is mainly for waiting for the action of the oil cylinders, i.e. waiting for the oil cylinders to withdraw the latches in place.
As one embodiment, when said shaft signal for the coordinat-ing movement is one for the cage to carry out the coordinat-ing movement upwards, the maximum speed during said upward movement is a first maximum speed, and the maximum speed dur-ing the movement directly to the destination position after-wards is a second maximum speed, wherein the value of said first maximum speed is smaller than that of said second maxi-mum speed, and when said shaft signal for the coordinating movement is one for the cage to carry out the coordinating movement down-wards, the maximum speed during said downward movement is a third maximum speed, and the maximum speed during the move-ment directly to the destination position afterwards is a fourth maximum speed, wherein the value of said third maximum speed is smaller than that of said fourth maximum speed.
As one embodiment, said second maximum speed and the fourth maximum speed are equal in value, said first maximum speed and the third maximum speed are equal in value.
Since the distance of the coordinating movement is relatively short, if the cage operates with a relatively low speed, then the operational stability can be ensured, while during a nor-mal movement, a relatively high speed can be used to operate to a predetermined position.
As one embodiment, if not all of said latches have been with-drawn under said predetermined conditions, then operational braking is carried out on said lifting machine. If not all of
As one embodiment, when said shaft signal for the coordinat-ing movement is one for the cage to carry out the coordinat-ing movement upwards, the maximum speed during said upward movement is a first maximum speed, and the maximum speed dur-ing the movement directly to the destination position after-wards is a second maximum speed, wherein the value of said first maximum speed is smaller than that of said second maxi-mum speed, and when said shaft signal for the coordinating movement is one for the cage to carry out the coordinating movement down-wards, the maximum speed during said downward movement is a third maximum speed, and the maximum speed during the move-ment directly to the destination position afterwards is a fourth maximum speed, wherein the value of said third maximum speed is smaller than that of said fourth maximum speed.
As one embodiment, said second maximum speed and the fourth maximum speed are equal in value, said first maximum speed and the third maximum speed are equal in value.
Since the distance of the coordinating movement is relatively short, if the cage operates with a relatively low speed, then the operational stability can be ensured, while during a nor-mal movement, a relatively high speed can be used to operate to a predetermined position.
As one embodiment, if not all of said latches have been with-drawn under said predetermined conditions, then operational braking is carried out on said lifting machine. If not all of
7 PCT/EP2012/054244 said latches have been withdrawn within a predetermined maxi-mum distance after said cage has carried out the movement, or, not all of said latches have been withdrawn within a pre-determined time period after said cage has reached said pre-determined maximum distance, then it means the cage locking system fails to release and needs to carry out operational braking so as to secure the safety.
Also provided in the present invention is a device for con-trolling a lifting machine, wherein said lifting machine is used for lifting a cage operating within a shaft, said cage is provided with a plurality of stop blocks for fixing, the wall base of said shaft is deployed with a plurality of latches, with said latches being used for maintaining the po-sition of said cage by moving in the directions approaching said cage when said cage is stopped in place so as to be fi-xed above and below said stop blocks for fixing, and when said cage needs to be released, said latches are moved in the directions away from said cage, so as to have said cage re-leased after all of them have been withdrawn, and said device includes:
a latch state detecting unit for detecting the withdrawal status of said latches when releasing said cage, and sending out a latch withdrawn signal, a coordinating movement signal unit for analyzing said latch withdrawn signal after having received the same, and if said latches in one direction have been withdrawn while not all of those in the other direction have been withdrawn, for sending out a shaft signal for the coordinating movement, a coordinating movement control unit for activating said lifting machine to pull said cage to carry out said coordi-nating movement after having received said shaft signal for the coordinating movement;
a judgment unit for detecting the withdrawal status of said latches under predetermined conditions after having car-ried out said coordinating movement, and sending out a detec-tion signal; and
Also provided in the present invention is a device for con-trolling a lifting machine, wherein said lifting machine is used for lifting a cage operating within a shaft, said cage is provided with a plurality of stop blocks for fixing, the wall base of said shaft is deployed with a plurality of latches, with said latches being used for maintaining the po-sition of said cage by moving in the directions approaching said cage when said cage is stopped in place so as to be fi-xed above and below said stop blocks for fixing, and when said cage needs to be released, said latches are moved in the directions away from said cage, so as to have said cage re-leased after all of them have been withdrawn, and said device includes:
a latch state detecting unit for detecting the withdrawal status of said latches when releasing said cage, and sending out a latch withdrawn signal, a coordinating movement signal unit for analyzing said latch withdrawn signal after having received the same, and if said latches in one direction have been withdrawn while not all of those in the other direction have been withdrawn, for sending out a shaft signal for the coordinating movement, a coordinating movement control unit for activating said lifting machine to pull said cage to carry out said coordi-nating movement after having received said shaft signal for the coordinating movement;
a judgment unit for detecting the withdrawal status of said latches under predetermined conditions after having car-ried out said coordinating movement, and sending out a detec-tion signal; and
8 PCT/EP2012/054244 a normal movement control unit for sending out an in-struction to control said lifting machine to pull said cage so as to run directly to a destination position if it is in-dicated by said detection signal that all of the latches have been withdrawn.
As one embodiment, if all of the latches above said stop blocks for fixing have been withdrawn but not all of the lat-ches therebelow have been withdrawn, said shaft signal for the coordinating movement sent out is one for the cage to carry out the coordinating movement upwards, if all of the latches below said stop blocks for fixing have been withdrawn but not all of the latches above said stop blocks for fixing have been withdrawn, then said shaft signal for the coordi-nating movement sent out is one for the cage to carry out the coordinating movement downwards.
As one embodiment, a braking unit is further included for sending out an instruction to lock said lifting machine when it is indicated by the latch withdrawn signal that there are still latches that have not been successfully withdrawn both above and below the stop blocks for fixing; and/or, for send-ing out an instruction to carry out operational braking on said lifting machine when it is indicated by the latch with-drawn signal that not all of said latches have been withdrawn under predetermined conditions.
As one embodiment, the full withdrawal of said latches under said predetermined conditions is particularly as follows: all of said latches have been withdrawn within a predetermined maximum distance after said cage has carried out the coordi-nating movement, or, all of said latches have been withdrawn within a predetermined time period after said cage has reached said predetermined maximum distance.
As one embodiment, when said shaft signal for the coordinat-ing movement is one for the cage to carry out the coordinat-
As one embodiment, if all of the latches above said stop blocks for fixing have been withdrawn but not all of the lat-ches therebelow have been withdrawn, said shaft signal for the coordinating movement sent out is one for the cage to carry out the coordinating movement upwards, if all of the latches below said stop blocks for fixing have been withdrawn but not all of the latches above said stop blocks for fixing have been withdrawn, then said shaft signal for the coordi-nating movement sent out is one for the cage to carry out the coordinating movement downwards.
As one embodiment, a braking unit is further included for sending out an instruction to lock said lifting machine when it is indicated by the latch withdrawn signal that there are still latches that have not been successfully withdrawn both above and below the stop blocks for fixing; and/or, for send-ing out an instruction to carry out operational braking on said lifting machine when it is indicated by the latch with-drawn signal that not all of said latches have been withdrawn under predetermined conditions.
As one embodiment, the full withdrawal of said latches under said predetermined conditions is particularly as follows: all of said latches have been withdrawn within a predetermined maximum distance after said cage has carried out the coordi-nating movement, or, all of said latches have been withdrawn within a predetermined time period after said cage has reached said predetermined maximum distance.
As one embodiment, when said shaft signal for the coordinat-ing movement is one for the cage to carry out the coordinat-
9 PCT/EP2012/054244 ing movement upwards, the maximum speed during said upward movement is a first maximum speed, and the maximum speed dur-ing the movement directly to the destination position after-wards is a second maximum speed, wherein the value of said first maximum speed is smaller than that of the second maxi-mum speed, and when said shaft signal for the coordinating movement is one for the cage to carry out the coordinating movement down-wards, the maximum speed during said downward movement is a third maximum speed, and the maximum speed during the move-ment directly to the destination position afterwards is a fourth maximum speed, wherein the value of said third maximum speed is smaller than that of said fourth maximum speed.
As one embodiment, said second maximum speed and the fourth maximum speed are equal in value, said first maximum speed and the third maximum speed are equal in value.
Also provided is a lifting machine system, including a cage, a lifting machine for lifting said cage, and further includ-ing a device for controlling the lifting machine as described above.
The present invention further provides a machine readable storage medium which stores instructions for enabling a ma-chine to carry out any of the abovementioned methods for con-trolling the lifting machine.
By way of the method, the device, the lifting machine system as well as the storage medium provided in the present inven-tion, the shaft operator only needs to carry out the same op-eration once without sending out a coordinating movement sig-nal in three different scenarios (all of the latches above the stop blocks for fixing have been withdrawn, all of the latches therebelow have been withdrawn, and all of the lat-ches thereabove and therebelow have been withdrawn), i.e. it only needs to send a normal start instruction once to the
As one embodiment, said second maximum speed and the fourth maximum speed are equal in value, said first maximum speed and the third maximum speed are equal in value.
Also provided is a lifting machine system, including a cage, a lifting machine for lifting said cage, and further includ-ing a device for controlling the lifting machine as described above.
The present invention further provides a machine readable storage medium which stores instructions for enabling a ma-chine to carry out any of the abovementioned methods for con-trolling the lifting machine.
By way of the method, the device, the lifting machine system as well as the storage medium provided in the present inven-tion, the shaft operator only needs to carry out the same op-eration once without sending out a coordinating movement sig-nal in three different scenarios (all of the latches above the stop blocks for fixing have been withdrawn, all of the latches therebelow have been withdrawn, and all of the lat-ches thereabove and therebelow have been withdrawn), i.e. it only needs to send a normal start instruction once to the
10 PCT/EP2012/054244 lifting machine operator without considering which scenario the cage locking device is in. Similarly, the lifting machine operator also only needs to operate the lifting machine once, and the lifting machine can automatically complete the coor-dinating movement as required and perform the normal movement to the destination position thereof by carrying out releasing and braking for one time. It is unnecessary for the shaft op-erator to send out an instruction twice to the lifting ma-chine operator, the lifting machine operator also need not operate twice, and the lifting machine need not release and brake twice, i.e. with carrying out movement twice. The op-erational efficiency of the lifting machine is significantly enhanced, the cage locking system has good safety monitoring so as to avoid human operation errors, there is quite high safety performance, and at the same time the braking wearing therein is reduced, and a lifting machine can automatically release the cage locking device after a loading/unloading is completed at a shaft level and automatically operate to the next shaft level destination position.
The following accompanying drawings are only intended to il-lustratively describe and explain the present invention and not intended to limit the scope of the present invention.
In the drawings, Fig. 1 is a schematic diagram of a cage;
Fig. 2 is a partial flowchart of the procedure according to the method embodiments of the present invention;
Figs. 3a, 3b and 3c are partial flowcharts of the procedure according to the method embodiments of the present in-vention in different scenarios;
Fig. 4 is a partial flowchart of the procedure according to the method embodiments of the present invention; and Fig. 5 is a structural block diagram according to the device embodiments of the present invention.
Description of reference signs:
1 cage 2 mine well lifting machine
The following accompanying drawings are only intended to il-lustratively describe and explain the present invention and not intended to limit the scope of the present invention.
In the drawings, Fig. 1 is a schematic diagram of a cage;
Fig. 2 is a partial flowchart of the procedure according to the method embodiments of the present invention;
Figs. 3a, 3b and 3c are partial flowcharts of the procedure according to the method embodiments of the present in-vention in different scenarios;
Fig. 4 is a partial flowchart of the procedure according to the method embodiments of the present invention; and Fig. 5 is a structural block diagram according to the device embodiments of the present invention.
Description of reference signs:
1 cage 2 mine well lifting machine
11 3 head rope 4 shaft base stop block for fixing 5 12 latch 14 hydraulic oil cylinder 16 sensor 100 device for controlling the lifting machine 101 latch state detecting unit 10 102 coordinating movement control unit 103 judgment unit 104 normal movement control unit 105 braking unit 106 coordinating movement signal unit For the sake of better understanding of the technical fea-tures, objects, and effects of the present invention, the particular embodiments of the present invention will now be described with reference to the accompanying drawings.
In order to solve the problem of swing and shaking when the barney enters/exits the cage, a cage 1 is shown in Fig. 1, and the object of stabilizing the cage is achieved by insert-ing latches (or referred to as cage locking bolt) into the base of the cage to lock the cage.
As shown in Fig. 1, the cage locking device is used for fix-ing the cage 1 vertically in a predetermined loading position and an unloading position so as to flush the cage with the floor surface, so that the cage 1 can be fixed in a rela-tively accurate position stably. The cage locking device is usually fixed on the base 5 of the shaft 4, and mainly in-cludes eight latches 12 with each of them having a position detecting sensor 16 and being driven by a hydraulic oil cyl-inders 14, and at four points of the bottom frame of the cage 1, the latches 12 are movable in the directions approaching the cage 1 and are fixed above and below the stop block for
In order to solve the problem of swing and shaking when the barney enters/exits the cage, a cage 1 is shown in Fig. 1, and the object of stabilizing the cage is achieved by insert-ing latches (or referred to as cage locking bolt) into the base of the cage to lock the cage.
As shown in Fig. 1, the cage locking device is used for fix-ing the cage 1 vertically in a predetermined loading position and an unloading position so as to flush the cage with the floor surface, so that the cage 1 can be fixed in a rela-tively accurate position stably. The cage locking device is usually fixed on the base 5 of the shaft 4, and mainly in-cludes eight latches 12 with each of them having a position detecting sensor 16 and being driven by a hydraulic oil cyl-inders 14, and at four points of the bottom frame of the cage 1, the latches 12 are movable in the directions approaching the cage 1 and are fixed above and below the stop block for
12 PCT/EP2012/054244 fixing (positioning block) 10 of the cage frame. When the ca-ge 1 is unloaded under the well, due to the change in the elongation volume of the head rope 3, the cage 1 will move upwards after the load has been moved out of the shake table, at this moment the latches 12 above will make contact with the stop block for fixing 10. When the cage 1 is loaded under the well, due to the change in the elongation volume of the head rope, the cage 1 will move downwards after the load is placed into the cage 1, at this moment the latches 12 below will make contact with the stop block for fixing 10.
The cage 1 is required to stop within an error range of 20 mm under the control of a winder control system (WCS) for the mine well lifting machine 2 so as to flush with the floor.
After the cage 1 is stopped in place, the latches 12 move in the directions approaching the cage 1, and the positions of all these 8 latches 12 are monitored by the sensors 16. When all of the latches 12 have reached their positions above and below the stop blocks for fixing 10, the shake table is low-ered and the shaft door is opened, at this moment the loading or unloading operation can be carried out. After the loading or unloading operation is completed, the shaft door is closed and the shake table is raised. Upon reaching the vertical end position, the shake table will be locked by a locking device on a side thereof, and when the shaft door is closed and the shake table is raised, the hydraulic cylinders will do their best to pull the latches out of the cage so as to release the cage.
It can be seen after the loading or unloading, if the cage needs to be operated to a next destination, it is required to ensure the withdrawal of the latches from the cage, so there is a need to control the lifting machine during this process so as to automatically release the cage locking device after a loading/unloading is completed at a shaft level and to automatically operate to the next shaft level destination po-sition.
The cage 1 is required to stop within an error range of 20 mm under the control of a winder control system (WCS) for the mine well lifting machine 2 so as to flush with the floor.
After the cage 1 is stopped in place, the latches 12 move in the directions approaching the cage 1, and the positions of all these 8 latches 12 are monitored by the sensors 16. When all of the latches 12 have reached their positions above and below the stop blocks for fixing 10, the shake table is low-ered and the shaft door is opened, at this moment the loading or unloading operation can be carried out. After the loading or unloading operation is completed, the shaft door is closed and the shake table is raised. Upon reaching the vertical end position, the shake table will be locked by a locking device on a side thereof, and when the shaft door is closed and the shake table is raised, the hydraulic cylinders will do their best to pull the latches out of the cage so as to release the cage.
It can be seen after the loading or unloading, if the cage needs to be operated to a next destination, it is required to ensure the withdrawal of the latches from the cage, so there is a need to control the lifting machine during this process so as to automatically release the cage locking device after a loading/unloading is completed at a shaft level and to automatically operate to the next shaft level destination po-sition.
13 PCT/EP2012/054244 Referring to Fig. 1, the head rope 3 of the lifting system will elongate according to the weight loaded and the position of the cage 1 within the shaft 4, the more weight is loaded, or the lower position the cage 1 is in the shaft 4, the longer the elongation of the head rope 3 would be. To this end, after the cage 1 is unloaded, the cage 1 will move up-wards, the stop blocks for fixing 10 on the cage 1 will press the latches 12 thereabove, while after the cage 1 is loaded, the cage 1 will move downwards, and the stop blocks for fix-ing 10 on the cage 1 will press the latches 12 therebelow.
Such design of the latches 12 and the stop blocks for fixing 10 requires that when the stop blocks for fixing 10 are still in contact with the latches 12, the latches 12 would not be able to leave their positions, and the control system of the lifting machine 2 needs to move the position of the cage 1 so as to enable the latches 12 to be moved in the directions away from the cage 1. Only the latches 12 that have not been led (i.e. not in contact with the stop blocks for fixing 10) can be moved in the directions away from the cage 1 without moving the cage 1. For example, if the cage 1 is unloaded, the cage 1 will be moved upwards. Before carrying out the lifting cycle, the control system of the lifting machine 2 needs to move the cage 1 downwards until the latches 12 the-reabove are disengaged. Similarly, the same process also needs to be taken into account when carrying out the loading, but the difference is that the cage 1 needs to be moved up-wards so as to enable the latches 12 therebelow to be disen-gaged.
Particularly, after the cage 1 is in place, the braking will be carried out, then the cage 1 will be held up by 4 latches 12 above the cage 1 and 4 latches 12 below the cage 1; if a weight is loaded into the cage 1, the cage 1 will be moved downwards to apply forces on those 4 latches 12 therebelow as a result of the traction of the head rope 3; before the cage 1 can be moved towards the next destination, all these 8
Such design of the latches 12 and the stop blocks for fixing 10 requires that when the stop blocks for fixing 10 are still in contact with the latches 12, the latches 12 would not be able to leave their positions, and the control system of the lifting machine 2 needs to move the position of the cage 1 so as to enable the latches 12 to be moved in the directions away from the cage 1. Only the latches 12 that have not been led (i.e. not in contact with the stop blocks for fixing 10) can be moved in the directions away from the cage 1 without moving the cage 1. For example, if the cage 1 is unloaded, the cage 1 will be moved upwards. Before carrying out the lifting cycle, the control system of the lifting machine 2 needs to move the cage 1 downwards until the latches 12 the-reabove are disengaged. Similarly, the same process also needs to be taken into account when carrying out the loading, but the difference is that the cage 1 needs to be moved up-wards so as to enable the latches 12 therebelow to be disen-gaged.
Particularly, after the cage 1 is in place, the braking will be carried out, then the cage 1 will be held up by 4 latches 12 above the cage 1 and 4 latches 12 below the cage 1; if a weight is loaded into the cage 1, the cage 1 will be moved downwards to apply forces on those 4 latches 12 therebelow as a result of the traction of the head rope 3; before the cage 1 can be moved towards the next destination, all these 8
14 PCT/EP2012/054244 latches 12 need to come back to the positions away from the shaft 4; after an operator located at the horizontal level of the shaft 4 starts to release the cage locking system, these 8 latches 12 will be withdrawn under the drive of a hydraulic cylinder 14 respectively, however, only those 4 latches 12 thereabove can come back to the positions away from the shaft 4, while those 4 latches 12 therebelow will still remain pressed by the cage 1 and cannot be withdrawn, at this mo-ment, the lifting machine 2 need to be moved upwards for a distance until the 4 latches 12 therebelow are also with-drawn. At this moment, all of these 8 latches 12 come back to the positions away from the shaft 4, and now the cage 1 is no longer blocked by the latches 12 and is movable toward the next destination.
Similarly, when a weight is moved out of the cage 1, the cage 1 will be moved upwards to apply forces to those 4 latches 12 thereabove as a result of the tensioning of the head rope 3;
before the cage 1 can be moved toward the next destination, all these 8 latches 12 need to come back to the positions away from the shaft 4; after an operator located at the hori-zontal level of the shaft 4 starts to release the cage lock-ing system, these 8 latches 12 will be withdrawn under the drive by the hydraulic cylinder 14 respectively, however, only those 4 latches 12 therebelow can come back to the posi-tions away from the shaft 4, while those 4 latches 12 there-above will still remain stuck by the cage 1 under the ten-sioning of the head rope 3 and cannot be withdrawn, at this moment, the lifting machine 2 need to be moved downwards for a distance until the 4 latches 12 thereabove are also with-drawn. At this moment, all of these 8 latches 12 come back to the positions away from the shaft 4, and now the cage 1 is no longer blocked by the latches and is movable toward the next destination.
Now the embodiments of the present invention will be de-scribed in detail in conjunction with the flowcharts shown in Figs. 2, 3a, 3b, 3c and 4.
5 As shown in Fig. 2:
Si: initial state - the cage is in place, braking is ap-plied, and the cage is locked by the cage locking device;
S2: loading or unloading is carried out on the cage, if a load is loaded into the cage, the elongation volume of the 10 head rope becomes large, the cage would be moved downwards to apply forces to the 4 latches therebelow, while in case of moving the load out from the cage, the elongation volume of the head rope becomes small and forces are applied to the 4 latches thereabove;
Similarly, when a weight is moved out of the cage 1, the cage 1 will be moved upwards to apply forces to those 4 latches 12 thereabove as a result of the tensioning of the head rope 3;
before the cage 1 can be moved toward the next destination, all these 8 latches 12 need to come back to the positions away from the shaft 4; after an operator located at the hori-zontal level of the shaft 4 starts to release the cage lock-ing system, these 8 latches 12 will be withdrawn under the drive by the hydraulic cylinder 14 respectively, however, only those 4 latches 12 therebelow can come back to the posi-tions away from the shaft 4, while those 4 latches 12 there-above will still remain stuck by the cage 1 under the ten-sioning of the head rope 3 and cannot be withdrawn, at this moment, the lifting machine 2 need to be moved downwards for a distance until the 4 latches 12 thereabove are also with-drawn. At this moment, all of these 8 latches 12 come back to the positions away from the shaft 4, and now the cage 1 is no longer blocked by the latches and is movable toward the next destination.
Now the embodiments of the present invention will be de-scribed in detail in conjunction with the flowcharts shown in Figs. 2, 3a, 3b, 3c and 4.
5 As shown in Fig. 2:
Si: initial state - the cage is in place, braking is ap-plied, and the cage is locked by the cage locking device;
S2: loading or unloading is carried out on the cage, if a load is loaded into the cage, the elongation volume of the 10 head rope becomes large, the cage would be moved downwards to apply forces to the 4 latches therebelow, while in case of moving the load out from the cage, the elongation volume of the head rope becomes small and forces are applied to the 4 latches thereabove;
15 S3: after the operation in S2 is completed, the operator located at the horizontal level of the shaft 4 starts the re-leasing operation of the cage locking system, at this moment these 8 latches will try to be withdrawn under the drive by the respective hydraulic cylinder thereof. In the case of a loading operation being carried out in S2, it is possible that only those 4 latches thereabove will come back to the withdrawn positions away from the cage, while possibly not all of those 4 latches therebelow may be able to be withdrawn as a result of being stuck by the cage; in the case of an un-loading operation being carried out in S2, it is possible that only those 4 latches therebelow will come back to the withdrawn positions away from the cage, while possibly not all of those 4 latches thereabove may be able to be withdrawn as a result of being stuck by the cage; and if the shaft le-vel where the cage is located is relatively high, it is pos-sible that all of the 8 latches may come back to the with-drawn positions after the completion of the loading operation as a result of a shorter head rope above the cage or a smaller change in the load.
S4: judging whether all of the 4 latches thereabove have been withdrawn or if all of the 4 latches therebelow have been withdrawn;
S4: judging whether all of the 4 latches thereabove have been withdrawn or if all of the 4 latches therebelow have been withdrawn;
16 PCT/EP2012/054244 S5: if the judgment result in S4 is no, i.e. there are latches that have not been successfully withdrawn both there-above and therebelow, then the lifting machine is locked up and prohibited from releasing the braking for operation, and at the same time, sends out the fault information that the releasing of the cage locking system is failed;
S6: if the judgment result in S4 is yes, then the shaft operator can send a normal movement instruction to the opera-tor of the lifting machine;
S7: after having received the instruction, the operator of the lifting machine starts the lifting machine;
now the operation of the lifting machine will be de-scribed according to different operation scenarios:
Scenario I, as shown in Fig. 3a:
58a: in this scenario, only those latches thereabove have been completely withdrawn (the operation in S2 is a loading operation);
59a: the lifting machine releases the braking automati-cally;
SlOa: a coordinating movement is started, i.e. the lift-ing machine starts to move upwards automatically with a rela-tively low maximum speed of about 0.1 m/s during the move-ment, which is mainly because that the operational stability can be ensured with a relatively low speed in a comparatively short distance of the upward movement;
Slla: this scenario is that: during the coordinating mo-vement in SlOa, if all of the latches have been withdrawn, then S13 should be carried out;
512a: during the coordinating movement in SlOa, if the movement distance of the cage reaches a predetermined maximum distance, then, at this moment, the cage stops moving, and after having waited for a predetermined time period (for ex-ample 2 s), if there are still any latches not withdrawn at this moment, i.e. not all of the latches have been withdrawn within said predetermined maximum distance and not all of said latches have been withdrawn within said predetermined time period, then 513a should be carried out; when predeter-mining the value of the maximum distance, if the maximum dis-
S6: if the judgment result in S4 is yes, then the shaft operator can send a normal movement instruction to the opera-tor of the lifting machine;
S7: after having received the instruction, the operator of the lifting machine starts the lifting machine;
now the operation of the lifting machine will be de-scribed according to different operation scenarios:
Scenario I, as shown in Fig. 3a:
58a: in this scenario, only those latches thereabove have been completely withdrawn (the operation in S2 is a loading operation);
59a: the lifting machine releases the braking automati-cally;
SlOa: a coordinating movement is started, i.e. the lift-ing machine starts to move upwards automatically with a rela-tively low maximum speed of about 0.1 m/s during the move-ment, which is mainly because that the operational stability can be ensured with a relatively low speed in a comparatively short distance of the upward movement;
Slla: this scenario is that: during the coordinating mo-vement in SlOa, if all of the latches have been withdrawn, then S13 should be carried out;
512a: during the coordinating movement in SlOa, if the movement distance of the cage reaches a predetermined maximum distance, then, at this moment, the cage stops moving, and after having waited for a predetermined time period (for ex-ample 2 s), if there are still any latches not withdrawn at this moment, i.e. not all of the latches have been withdrawn within said predetermined maximum distance and not all of said latches have been withdrawn within said predetermined time period, then 513a should be carried out; when predeter-mining the value of the maximum distance, if the maximum dis-
17 PCT/EP2012/054244 tance is too long, then it is possible that the latches may impact the cage, while the setting of a predetermined time period which needs to be awaited is mainly for waiting for the action of the oil cylinders, i.e. waiting for the oil cy-linders to withdraw the latches in place.
S13a: applying working braking, and sending out the fault information that the releasing of the cage locking system has failed;
Scenario II, as shown in Fig. 3b:
58b: in this scenario, only those latches therebelow have been completely withdrawn (the operation in S2 is an unload-ing operation);
59b: the lifting machine releases the braking automati-cally;
SlOb: a coordinating movement is started, i.e. the lift-ing machine starts to move downwards automatically with a relatively low maximum speed (for example, it can be the same as that in SlOa) of about 0.1 m/s during the movement, which is mainly because that the operational stability can be en-sured with a relatively low speed in a comparatively short distance of the downward movement;
Sllb: this scenario is that during the coordinating move-ment in SlOb, in the case of all of the latches having been withdrawn, then S13 should be carried out;
512b: in this scenario, during the coordinating movement in SlOb, if the movement distance of the cage reaches a pre-determined maximum distance, then, at this moment, the cage stops moving, and after having waited for a predetermined time period (for example 2 s), if there are still any latches not withdrawn at this moment, then 513b should be carried out; for the same reason, when predetermining the value of the maximum distance, if the maximum distance is too long, then it is possible that the latches may impact the cage, while the setting of a predetermined time period which needs to be awaited is mainly for waiting for the action of the oil cylinders, i.e. waiting for the oil cylinders to withdraw the latches in place.
S13a: applying working braking, and sending out the fault information that the releasing of the cage locking system has failed;
Scenario II, as shown in Fig. 3b:
58b: in this scenario, only those latches therebelow have been completely withdrawn (the operation in S2 is an unload-ing operation);
59b: the lifting machine releases the braking automati-cally;
SlOb: a coordinating movement is started, i.e. the lift-ing machine starts to move downwards automatically with a relatively low maximum speed (for example, it can be the same as that in SlOa) of about 0.1 m/s during the movement, which is mainly because that the operational stability can be en-sured with a relatively low speed in a comparatively short distance of the downward movement;
Sllb: this scenario is that during the coordinating move-ment in SlOb, in the case of all of the latches having been withdrawn, then S13 should be carried out;
512b: in this scenario, during the coordinating movement in SlOb, if the movement distance of the cage reaches a pre-determined maximum distance, then, at this moment, the cage stops moving, and after having waited for a predetermined time period (for example 2 s), if there are still any latches not withdrawn at this moment, then 513b should be carried out; for the same reason, when predetermining the value of the maximum distance, if the maximum distance is too long, then it is possible that the latches may impact the cage, while the setting of a predetermined time period which needs to be awaited is mainly for waiting for the action of the oil cylinders, i.e. waiting for the oil cylinders to withdraw the latches in place.
18 PCT/EP2012/054244 S13b: apply working braking, and send out the fault in-formation that the releasing of the cage locking system has failed;
Scenario III, as shown in Fig. 3c:
58c: in this scenario, all of those latches thereabove and therebelow have been withdrawn (the head rope above the cage is relatively short or the change in the load is rela-tively small);
59c: the lifting machine releases the braking automati-cally;
following each of the above three scenarios, as shown in Fig. 4, continue to carry out the following steps:
S13: following the above scenario Slla or Sllb or 59c, the lifting machine starts to carry out a normal movement to-wards the destination position thereof, and the value of the maximum speed in the normal movement can be larger than that of the maximum speed in SlOa and/or SlOb;
S14: when the lifting machine has reached the destination position by the normal movement, working braking is applied;
S15: the shaft operator starts a cage locking operation of the cage locking system; and S16: S16 is in the end state, similar to the initial sta-te Sl, the cage is in place, braking is applied, and the cage is locked by the cage locking device, then a lifting cycle is completed.
As shown in Fig. 5, also provided in the present invention is a device 100 for controlling a lifting machine, wherein said lifting machine is used for lifting a cage operating within a shaft, the bottom of said cage is provided with a plurality of stop blocks for fixing, the wall base of said shaft is de-ployed with a plurality of latches, with said latches being used for maintaining the position of said cage by moving in the directions approaching said cage when said cage is stopped in place so as to be fixed above and below said stop blocks for fixing, and when said cage needs to be released, said latches are moved in the directions away from said cage,
Scenario III, as shown in Fig. 3c:
58c: in this scenario, all of those latches thereabove and therebelow have been withdrawn (the head rope above the cage is relatively short or the change in the load is rela-tively small);
59c: the lifting machine releases the braking automati-cally;
following each of the above three scenarios, as shown in Fig. 4, continue to carry out the following steps:
S13: following the above scenario Slla or Sllb or 59c, the lifting machine starts to carry out a normal movement to-wards the destination position thereof, and the value of the maximum speed in the normal movement can be larger than that of the maximum speed in SlOa and/or SlOb;
S14: when the lifting machine has reached the destination position by the normal movement, working braking is applied;
S15: the shaft operator starts a cage locking operation of the cage locking system; and S16: S16 is in the end state, similar to the initial sta-te Sl, the cage is in place, braking is applied, and the cage is locked by the cage locking device, then a lifting cycle is completed.
As shown in Fig. 5, also provided in the present invention is a device 100 for controlling a lifting machine, wherein said lifting machine is used for lifting a cage operating within a shaft, the bottom of said cage is provided with a plurality of stop blocks for fixing, the wall base of said shaft is de-ployed with a plurality of latches, with said latches being used for maintaining the position of said cage by moving in the directions approaching said cage when said cage is stopped in place so as to be fixed above and below said stop blocks for fixing, and when said cage needs to be released, said latches are moved in the directions away from said cage,
19 so as to have said cage released after all of them have been withdrawn, and said device includes:
a latch state detecting unit 101 for detecting the with-drawal status of said latches when releasing said cage, and sending out a latch withdrawn signal, a coordinating movement signal unit 106 for analyzing said latch withdrawn signal after having received the same, if said latches in one direction have been withdrawn while not all of those in the other direction have been withdrawn, sending out a shaft signal for a coordinating movement, a coordinating movement control unit 102 for activating said lifting machine to pull said cage to carry out said co-ordinating movement after having received said shaft signal for the coordinating movement;
a judgment unit 103 for detecting the withdrawal status of said latches under predetermined conditions after having carried out said coordinating movement, and sending out a de-tection signal; and a normal movement control unit 104 for sending out an in-struction to control said lifting machine to pull said cage so as to run directly to a destination position if it is in-dicated by said detection signal that all of the latches have been withdrawn.
As one embodiment, if all of the latches above said stop blocks for fixing have been withdrawn but not all of the lat-ches therebelow have been withdrawn, then said shaft signal for the coordinating movement sent out is one for the cage to carry out the coordinating movement upwards, if all of the latches below said stop blocks for fixing have been withdrawn but not all of the latches above said stop blocks for fixing have been withdrawn, then said shaft signal for the coordi-nating movement sent out is one for the cage to carry out the coordinating movement downwards.
As one embodiment, a braking unit 105 is further included for sending out an instruction to lock said lifting machine when
a latch state detecting unit 101 for detecting the with-drawal status of said latches when releasing said cage, and sending out a latch withdrawn signal, a coordinating movement signal unit 106 for analyzing said latch withdrawn signal after having received the same, if said latches in one direction have been withdrawn while not all of those in the other direction have been withdrawn, sending out a shaft signal for a coordinating movement, a coordinating movement control unit 102 for activating said lifting machine to pull said cage to carry out said co-ordinating movement after having received said shaft signal for the coordinating movement;
a judgment unit 103 for detecting the withdrawal status of said latches under predetermined conditions after having carried out said coordinating movement, and sending out a de-tection signal; and a normal movement control unit 104 for sending out an in-struction to control said lifting machine to pull said cage so as to run directly to a destination position if it is in-dicated by said detection signal that all of the latches have been withdrawn.
As one embodiment, if all of the latches above said stop blocks for fixing have been withdrawn but not all of the lat-ches therebelow have been withdrawn, then said shaft signal for the coordinating movement sent out is one for the cage to carry out the coordinating movement upwards, if all of the latches below said stop blocks for fixing have been withdrawn but not all of the latches above said stop blocks for fixing have been withdrawn, then said shaft signal for the coordi-nating movement sent out is one for the cage to carry out the coordinating movement downwards.
As one embodiment, a braking unit 105 is further included for sending out an instruction to lock said lifting machine when
20 PCT/EP2012/054244 it is indicated by the latch withdrawn signal that there are latches not been successfully withdrawn both above and below the stop blocks for fixing; and/or, for sending out an in-struction to carry out operational braking on said lifting machine when it is indicated by the latch withdrawn signal that not all of said latches have been withdrawn under prede-termined conditions.
As one embodiment, the full withdrawal of said latches under said predetermined conditions is as follows: all of said latches have been withdrawn within a predetermined maximum distance after said cage has carried out the coordinating movement, or, all of said latches have been withdrawn within a predetermined time period after said cage has reached said predetermined maximum distance.
As one embodiment, when said shaft signal for the coordinat-ing movement is one for the cage to carry out the coordinat-ing movement upwards, the maximum speed during said upward movement is a first maximum speed, and the maximum speed dur-ing the movement directly to the destination position after-wards is a second maximum speed, wherein the value of said first maximum speed is smaller than that of said second maxi-mum speed, and when said shaft signal for the coordinating movement is one for the cage to carry out the coordinating movement down-wards, the maximum speed during said downward movement is a third maximum speed, and the maximum speed during the move-ment directly to the destination position afterwards is a fourth maximum speed, wherein the value of said third maximum speed is smaller than that of said fourth maximum speed.
As one embodiment, said second maximum speed and the fourth maximum speed are equal in value, and said first maximum speed and the third maximum speed are equal in value.
As one embodiment, the full withdrawal of said latches under said predetermined conditions is as follows: all of said latches have been withdrawn within a predetermined maximum distance after said cage has carried out the coordinating movement, or, all of said latches have been withdrawn within a predetermined time period after said cage has reached said predetermined maximum distance.
As one embodiment, when said shaft signal for the coordinat-ing movement is one for the cage to carry out the coordinat-ing movement upwards, the maximum speed during said upward movement is a first maximum speed, and the maximum speed dur-ing the movement directly to the destination position after-wards is a second maximum speed, wherein the value of said first maximum speed is smaller than that of said second maxi-mum speed, and when said shaft signal for the coordinating movement is one for the cage to carry out the coordinating movement down-wards, the maximum speed during said downward movement is a third maximum speed, and the maximum speed during the move-ment directly to the destination position afterwards is a fourth maximum speed, wherein the value of said third maximum speed is smaller than that of said fourth maximum speed.
As one embodiment, said second maximum speed and the fourth maximum speed are equal in value, and said first maximum speed and the third maximum speed are equal in value.
21 PCT/EP2012/054244 Furthermore, also provided is such a lifting machine system, which includes a cage, a lifting machine for lifting said cage, further includes a device for controlling the lifting machine as described above.
The present invention further provides a machine readable storage medium which stores instructions for enabling a ma-chine to carry out the method for controlling the lifting ma-chine according to the description of the present document.
In particular, it is possible to provide a system or device provided with the storage medium on which the software pro-gram codes performing the functions of any one of the above-mentioned embodiments are stored, and to enable the computer (or CPU or MPU) of the system or device to read out and exe-cute the program codes stored in the storage medium.
In this case, the program codes read from the storage medium per se are capable of performing the functions of any one of the abovementioned embodiments, thus the program codes and the storage medium storing the program codes constitute a part of the present invention.
The storage medium embodiments for providing the program codes include floppy disks, hard disks, magneto optical disks, compact disc (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tape, nonvolatile storage card and ROM. Optionally, the program codes can be downloaded from a server computer via communication networks.
In addition, it should be clear that the functions of any one of the abovementioned embodiments can be performed not only by executing the program codes read by the computer but also by enabling the operation system operated on the computer, etc. to perform a part of or all of the actual operations based on the instructions of the program codes.
The present invention further provides a machine readable storage medium which stores instructions for enabling a ma-chine to carry out the method for controlling the lifting ma-chine according to the description of the present document.
In particular, it is possible to provide a system or device provided with the storage medium on which the software pro-gram codes performing the functions of any one of the above-mentioned embodiments are stored, and to enable the computer (or CPU or MPU) of the system or device to read out and exe-cute the program codes stored in the storage medium.
In this case, the program codes read from the storage medium per se are capable of performing the functions of any one of the abovementioned embodiments, thus the program codes and the storage medium storing the program codes constitute a part of the present invention.
The storage medium embodiments for providing the program codes include floppy disks, hard disks, magneto optical disks, compact disc (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tape, nonvolatile storage card and ROM. Optionally, the program codes can be downloaded from a server computer via communication networks.
In addition, it should be clear that the functions of any one of the abovementioned embodiments can be performed not only by executing the program codes read by the computer but also by enabling the operation system operated on the computer, etc. to perform a part of or all of the actual operations based on the instructions of the program codes.
22 PCT/EP2012/054244 In addition, it should be understood that the program codes read from the storage medium are written into the memory pro-vided in an extension board within the computer or written into the memory provided in an extension unit connected to the computer, afterwards a part of or all of the actual op-erations will be performed by the CPU, etc. mounted in the extension board or the extension unit based on the instruc-tions of the program codes so as to perform the functions of any one of the abovementioned embodiments.
Provided in the present invention is a method and device for controlling a lifting machine, wherein when releasing a cage, the lifting machine is a controller, according to the with-drawal status of the latches above or below the stop blocks for fixing, for automatically completing the coordinating movement upwards or downwards and performing a normal move-ment to the destination position thereof. The method and de-vice of the present invention can significantly enhance the operational efficiency of the lifting machine, have good sa-fety monitoring of the cage locking system so as to avoid hu-man operation errors, have quite high safety performance, and at the same time reduce the braking wearing therein.
By way of the method and device for controlling a lifting ma-chine as well as a lifting machine system provided in the present invention, the shaft operator only needs to carry out the same operation once without sending out a coordinating movement signal in three different scenarios (all of the lat-ches above the stop blocks for fixing have been withdrawn, all of the latches therebelow have been withdrawn, and all of the latches thereabove and therebelow have been withdrawn), i.e. it only needs to send a normal start instruction once to the lifting machine operator without taking the scenario which the cage locking device is in into account. Similarly, the lifting machine operator also only needs to operate the lifting machine once, and the lifting machine can automati-cally complete the coordinating movement as required and per-
Provided in the present invention is a method and device for controlling a lifting machine, wherein when releasing a cage, the lifting machine is a controller, according to the with-drawal status of the latches above or below the stop blocks for fixing, for automatically completing the coordinating movement upwards or downwards and performing a normal move-ment to the destination position thereof. The method and de-vice of the present invention can significantly enhance the operational efficiency of the lifting machine, have good sa-fety monitoring of the cage locking system so as to avoid hu-man operation errors, have quite high safety performance, and at the same time reduce the braking wearing therein.
By way of the method and device for controlling a lifting ma-chine as well as a lifting machine system provided in the present invention, the shaft operator only needs to carry out the same operation once without sending out a coordinating movement signal in three different scenarios (all of the lat-ches above the stop blocks for fixing have been withdrawn, all of the latches therebelow have been withdrawn, and all of the latches thereabove and therebelow have been withdrawn), i.e. it only needs to send a normal start instruction once to the lifting machine operator without taking the scenario which the cage locking device is in into account. Similarly, the lifting machine operator also only needs to operate the lifting machine once, and the lifting machine can automati-cally complete the coordinating movement as required and per-
23 form the normal movement to the destination position thereof by releasing and applying the braking for one time. It is un-necessary for the shaft operator to send out an instruction twice to the lifting machine operator, the lifting machine operator also need not operate twice, and the lifting machine need not release and apply braking twice, i.e. without carry-ing out movement twice. The operational efficiency of the lifting machine is significantly enhanced, there is good sa-fety monitoring of the cage locking system so as to avoid hu-man operation errors, there is quite high safety performance, and at the same time the braking wearing therein is reduced, and a lifting machine can automatically release the cage lo-cking device after a loading/unloading is completed at a shaft level and to automatically operate to the next shaft level destination position.
What is described above is merely illustrative of particular embodiments of the present invention and not intended to limit the scope of the present invention. Any equivalent variation, modification, and combination made by those skil-led in the art without departing from the concept and princi-ples of the present invention shall belong to the scope of protection of the present invention.
What is described above is merely illustrative of particular embodiments of the present invention and not intended to limit the scope of the present invention. Any equivalent variation, modification, and combination made by those skil-led in the art without departing from the concept and princi-ples of the present invention shall belong to the scope of protection of the present invention.
Claims (12)
1. A method for controlling a lifting machine (2), with said lifting machine (2) being used for lifting a cage (1) operat-ing within a shaft (4), and a plurality of latches (12) being deployed on the wall base (5) of said shaft (4), character-ized by releasing said cage (1) and detecting the withdrawal sta-tus of said latches (12), and sending out a latch withdrawn signal, wherein said cage (1) is provided with a plurality of stop blocks for fixing (10), said latches (12) are used for maintaining the position of said cage (1) by moving in the directions approaching said cage (1) when said cage (1) is stopped in place, so as to be fixed above and below said stop blocks for fixing (10), and when said cage (1) needs to be released, said latches (12) are moved in the directions away from said cage (1), so as to have said cage (1) released af-ter all of them have been withdrawn;
sending a shaft signal for a coordinating movement if it is indicated by said latch withdrawn signal that said latches (12) above/below said stop blocks for fixing (10) in one di-rection have been withdrawn but not all of those in the other direction have been withdrawn;
activating said lifting machine (2) to pull said cage (1) to carry out said coordinating movement after having received said shaft signal for the coordinating movement;
detecting the withdrawal status of said latches (12) un-der predetermined conditions and sending out a detection sig-nal after having carried out said coordinating movement; and pulling by said lifting machine (2) said cage (1) so as to run directly to a destination position if it is indicated by said detection signal that all of said latches (12) have been withdrawn under said predetermined conditions.
sending a shaft signal for a coordinating movement if it is indicated by said latch withdrawn signal that said latches (12) above/below said stop blocks for fixing (10) in one di-rection have been withdrawn but not all of those in the other direction have been withdrawn;
activating said lifting machine (2) to pull said cage (1) to carry out said coordinating movement after having received said shaft signal for the coordinating movement;
detecting the withdrawal status of said latches (12) un-der predetermined conditions and sending out a detection sig-nal after having carried out said coordinating movement; and pulling by said lifting machine (2) said cage (1) so as to run directly to a destination position if it is indicated by said detection signal that all of said latches (12) have been withdrawn under said predetermined conditions.
2. The method as claimed in claim 1, characterized by lock-ing said lifting machine (2) if it is indicated by said latch withdrawn signal that there are still latches (12) that have not been successfully withdrawn both above and below said stop blocks for fixing (10).
3. The method as claimed in claim 1, characterized by send-ing out a shaft signal for a normal movement if it is indi-cated by said latch withdrawn signal that all of the latches (12) above and below said stop blocks for fixing (10) have been withdrawn, and pulling by said lifting machine (2) said cage (1) so as to run directly to said destination position after having received said shaft signal.
4. The method as claimed in claim 1, characterized in that in the case of all of said latches (12) having been withdrawn under said predetermined conditions, it is particularly as follows: the distance after said cage (1) has carried out the movement is within a predetermined maximum distance and all of said latches (12) have been withdrawn, or, all of said latches (12) have been withdrawn within a predetermined time period after said predetermined maximum distance is reached.
5. The method as claimed in claim 1, characterized in that if it is indicated by said latch withdrawn signal that all of the latches (12) above said stop blocks for fixing (10) have been withdrawn but not all of the latches (12) therebelow have been withdrawn, then said shaft signal for the coordi-nating movement is one for said cage (1) to carry out the co-ordinating movement upwards; or if it is indicated by said latch withdrawn signal that all of the latches (12) below said stop blocks for fix-ing (10) have been withdrawn but not all of the latches (12) thereabove have been withdrawn, then said shaft signal for the coordinating movement is one for said cage (1) to carry out the coordinating movement downwards.
6. The method as claimed in claim 4, characterized in that when said shaft signal for the coordinating movement is used for said cage (1) to carry out the coordinating movement up-wards, the maximum speed during said upward movement is a first maximum speed, and the maximum speed during the running thereof directly to said destination position afterwards is a second maximum speed, wherein the value of said first maximum speed is smaller than that of the second maximum speed; and when said shaft signal for the coordinating movement is used for the cage (1) to carry out the coordinating movement downwards, the maximum speed during said downward movement is a third maximum speed, and the maximum speed during the run-ning thereof directly to said destination position afterwards is a fourth maximum speed, wherein the value of said third maximum speed is smaller than that of said fourth maximum speed.
7. The method as claimed in claim 6, characterized in that said second maximum speed and said fourth maximum speed are equal in value, and said first maximum speed and said third maximum speed are equal in value.
8. The method as claimed in claim 1, characterized in that if not all of said latches (12) have been withdrawn under said predetermined conditions, then an operational braking is carried out on said lifting machine (2).
9. A device (100) for controlling a lifting machine (2), characterized in that said lifting machine (2) is used for lifting a cage (1) operating within a shaft (4), said cage (1) is provided with a plurality of stop blocks for fixing (10), the wall base (5) of said shaft (4) is deployed with a plurality of latches (12), with said latches (12) being used for maintaining the position of said cage (1) by moving in the directions approaching said cage (1) when said cage (1) is stopped in place, so as to be fixed above and below said stop blocks for fixing (10), and when said cage (1) needs to be released, said latches (12) are moved in the directions away from said cage (1) so as to release said cage (1) after all of them have been withdrawn;
said device (100) comprises:
a latch state detecting unit (101) for detecting the withdrawal status of said latches (12) when said cage (1) is released, and sending out a latch withdrawn signal, a coordinating movement signal unit (106) for analyzing said latch withdrawn signal after having received the same, and if it is indicated that said latches (12) in one direc-tion have been withdrawn while not all of those in the other direction have been withdrawn, sending out a shaft signal for a coordinating movement, a coordinating movement control unit (102) for activating said lifting machine (2) to pull said cage (1) to carry out said coordinating movement after having received said shaft signal for the coordinating movement;
a judgment unit (103) for detecting the withdrawal status of said latches (12) under predetermined conditions after ha-ving carried out said coordinating movement, and sending out a detection signal; and a normal movement control unit (104) for sending out an instruction to control said lifting machine (2) to pull said cage (1) so as to run directly to a destination position if it is indicated by said detection signal that all of the lat-ches (12) have been withdrawn.
said device (100) comprises:
a latch state detecting unit (101) for detecting the withdrawal status of said latches (12) when said cage (1) is released, and sending out a latch withdrawn signal, a coordinating movement signal unit (106) for analyzing said latch withdrawn signal after having received the same, and if it is indicated that said latches (12) in one direc-tion have been withdrawn while not all of those in the other direction have been withdrawn, sending out a shaft signal for a coordinating movement, a coordinating movement control unit (102) for activating said lifting machine (2) to pull said cage (1) to carry out said coordinating movement after having received said shaft signal for the coordinating movement;
a judgment unit (103) for detecting the withdrawal status of said latches (12) under predetermined conditions after ha-ving carried out said coordinating movement, and sending out a detection signal; and a normal movement control unit (104) for sending out an instruction to control said lifting machine (2) to pull said cage (1) so as to run directly to a destination position if it is indicated by said detection signal that all of the lat-ches (12) have been withdrawn.
10. The device as claimed in claim 9, characterized by fur-ther comprising a braking unit (105) for sending out an in-struction to carry out the locking of said lifting machine (2) when it is indicated by said latch withdrawn signal that there are latches (12) not withdrawn both above and below the stop blocks for fixing (10); and/or, for sending out an in-struction to carry out the operational braking of said lift-ing machine (2) when it is indicated by said latch withdrawn signal that not all of said latches (12) have been withdrawn under the predetermined conditions.
11. A lifting machine system comprising a cage (1) and a lifting machine (2) for lifting said cage (1), characterized by comprising the device (100) for controlling a lifting ma-chine (2) as claimed in claim 9 or 10.
12. A machine readable storage medium, characterized by stor-ing instructions for enabling a machine to carry out the method for controlling a lifting machine (2) as claimed in any one of claims 1 to 8.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110062325.9 | 2011-03-16 | ||
| CN201110062325.9A CN102674125B (en) | 2011-03-16 | 2011-03-16 | Method and device for controlling elevator, storage medium and elevator system |
| PCT/EP2012/054244 WO2012123397A1 (en) | 2011-03-16 | 2012-03-12 | Method and device for controlling a lifting machine, a storage medium, and a lifting machine system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2830114A1 true CA2830114A1 (en) | 2012-09-20 |
| CA2830114C CA2830114C (en) | 2019-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2830114A Active CA2830114C (en) | 2011-03-16 | 2012-03-12 | Method and device for controlling a lifting machine, a storage medium, and a lifting machine system |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN102674125B (en) |
| CA (1) | CA2830114C (en) |
| RU (1) | RU2597052C2 (en) |
| WO (1) | WO2012123397A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107986139A (en) * | 2017-12-15 | 2018-05-04 | 广州豪坤工业自动化控制技术有限公司 | A kind of goods is to people's floor elevator automatic physical distribution device |
| CN110145501B (en) * | 2019-04-10 | 2020-05-12 | 中国矿业大学 | Method for controlling position and posture of lifting container of double-rope winding type ultra-deep vertical shaft lifting system |
| CN113120734B (en) * | 2021-04-22 | 2024-03-12 | 日照柳海石油化工有限公司 | Mine tank baffle capable of ensuring synchronous sliding of two sides |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2839160C2 (en) * | 1978-09-08 | 1983-03-31 | M.A.N. Maschinenfabrik Augsburg-Nürnberg AG, 4200 Oberhausen | Method and device for operating a mining shaft conveyor |
| SU1252281A1 (en) * | 1984-10-09 | 1986-08-23 | Свердловский горный институт им.В.В.Вахрушева | Control device for landing cams of mine hoist cage |
| CN1030653C (en) * | 1991-10-09 | 1996-01-10 | 煤炭工业部太原煤矿设计研究院 | Automatic control system of loading operation unit of cage |
| US5862886A (en) * | 1995-11-29 | 1999-01-26 | Otis Elevator Company | Pretorque to unload elevator car/floor locks before retraction |
| US5771995A (en) * | 1995-11-29 | 1998-06-30 | Otis Elevator Company | Locking elevator car frame to building during loading/unloading horizontally moveable cab |
| US6691833B1 (en) * | 1999-02-05 | 2004-02-17 | Inventio Ag | Elevator without a machine room |
| JP2002293488A (en) * | 2001-03-30 | 2002-10-09 | Sanwa Tekki Corp | Lifting device |
| JP4089457B2 (en) * | 2003-02-17 | 2008-05-28 | 株式会社日立製作所 | Logistics system |
| CN101327884B (en) * | 2008-07-09 | 2010-06-02 | 中煤第五建设公司 | Anti-drop bucket for shaft sinking |
| CN101643174A (en) * | 2008-08-04 | 2010-02-10 | 张金楼 | Cage-stabilizing and cage-locking device for cage of vertical shaft |
| CN101966957A (en) * | 2010-06-18 | 2011-02-09 | 中国神华能源股份有限公司 | Method for controlling auxiliary shaft operation system |
-
2011
- 2011-03-16 CN CN201110062325.9A patent/CN102674125B/en active Active
-
2012
- 2012-03-12 RU RU2013146026/11A patent/RU2597052C2/en active
- 2012-03-12 WO PCT/EP2012/054244 patent/WO2012123397A1/en active Application Filing
- 2012-03-12 CA CA2830114A patent/CA2830114C/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN102674125B (en) | 2014-10-15 |
| RU2597052C2 (en) | 2016-09-10 |
| RU2013146026A (en) | 2015-04-27 |
| WO2012123397A1 (en) | 2012-09-20 |
| CA2830114C (en) | 2019-12-03 |
| CN102674125A (en) | 2012-09-19 |
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