CA3006961C - Method for actuating a hoist, hoist and control device for actuating a hoist drive - Google Patents
Method for actuating a hoist, hoist and control device for actuating a hoist drive Download PDFInfo
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- CA3006961C CA3006961C CA3006961A CA3006961A CA3006961C CA 3006961 C CA3006961 C CA 3006961C CA 3006961 A CA3006961 A CA 3006961A CA 3006961 A CA3006961 A CA 3006961A CA 3006961 C CA3006961 C CA 3006961C
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- hoist
- hoisting
- container
- hoisting cable
- drive
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000008859 change Effects 0.000 claims abstract description 23
- 239000000463 material Substances 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 12
- 230000010355 oscillation Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000001447 compensatory effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000009420 retrofitting Methods 0.000 description 1
- 230000009291 secondary effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
- B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B17/00—Hoistway equipment
- B66B17/14—Applications of loading and unloading equipment
- B66B17/26—Applications of loading and unloading equipment for loading or unloading mining-hoist skips
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control And Safety Of Cranes (AREA)
- Control Of Conveyors (AREA)
- Cage And Drive Apparatuses For Elevators (AREA)
Abstract
The invention relates to a method for actuating a hoist (2), in particular for a shaft hoisting system, comprising a drive (4) having an associated control device (6), a cable carrier (8), at least one hoisting cable (10), and at least one hoist container (12, 14) for the vertical transport of transported material.
The hoisting cable (10) elongates during loading of the hoist container (12, 14) due to the weight increase of the hoist container (12, 14). During unloading of the hoist container (12, 14), the hoisting cable (10) contracts again. In order to ensure height compensation during loading and unloading of the at least one hoist container, the drive (4) remains activated during loading or unloading and, to compensate for a change to the hoisting cable length, a rotation angle (.alpha.) of the cable carrier (8) is continually adjusted based on a predetermined rotation angle progression.
The hoisting cable (10) elongates during loading of the hoist container (12, 14) due to the weight increase of the hoist container (12, 14). During unloading of the hoist container (12, 14), the hoisting cable (10) contracts again. In order to ensure height compensation during loading and unloading of the at least one hoist container, the drive (4) remains activated during loading or unloading and, to compensate for a change to the hoisting cable length, a rotation angle (.alpha.) of the cable carrier (8) is continually adjusted based on a predetermined rotation angle progression.
Description
Description Method for actuating a hoist, hoist and control device for actuating a hoist drive The invention relates to a method for actuating a hoist, in particular for a shaft hoisting system comprising a drive having an associated control device, a cable carrier, at least one hoisting cable and at least one hoist container arranged on the hoisting cable for the vertical transport of material to be conveyed. The invention further relates to a hoist and a control device for actuating a hoist drive.
A hoist of this kind is, for example, disclosed in DE 10 2004 058 757 Al. This prior art describes a shaft hoisting system comprising a cable pulley connected to a motor, which guides a hoisting cable for material to be conveyed. The shaft hoisting system is further equipped with at least one pulse counter, which derives from the rotary motion a current path value and a current speed value for the material to be conveyed. The shaft hoisting system is furthermore controlled and/or monitored by means of an electrical automation system, wherein, for operation, the automation system comprises a digital drive controller for calculating setpoint values for controlling the motor.
Hoists for the mining industry generally have the problem that, during loading of a hoist container, the hoisting cable is sometimes elongated by up to 1.5 m or more due to the increase in weight of the hoist container. This value is dependent on the hoisting cable length, the payload and the number of hoisting cables. In principle, all hoist manufacturers aim to keep the loading time as short as
A hoist of this kind is, for example, disclosed in DE 10 2004 058 757 Al. This prior art describes a shaft hoisting system comprising a cable pulley connected to a motor, which guides a hoisting cable for material to be conveyed. The shaft hoisting system is further equipped with at least one pulse counter, which derives from the rotary motion a current path value and a current speed value for the material to be conveyed. The shaft hoisting system is furthermore controlled and/or monitored by means of an electrical automation system, wherein, for operation, the automation system comprises a digital drive controller for calculating setpoint values for controlling the motor.
Hoists for the mining industry generally have the problem that, during loading of a hoist container, the hoisting cable is sometimes elongated by up to 1.5 m or more due to the increase in weight of the hoist container. This value is dependent on the hoisting cable length, the payload and the number of hoisting cables. In principle, all hoist manufacturers aim to keep the loading time as short as
2' possible. Therefore, the elongation of the hoisting cable during the operation of the hoisting system takes place within a period of a few seconds. During unloading of the hoist container, due to the reduced weight, the hoisting cable contracts again within a short time.
Hoisting cable lengths have a series of drawbacks. The hoist container and hence the hoisting cable start to oscillate vertically. In addition, during the loading process, the hoist container moves downward out of the optimum loading position.
There are also secondary effects: an oscillating hoisting cable has a negative impact on the drive's speed and torque control and there can be a negative impact on the lifetime of the hoisting cable. The vertical oscillations can make it necessary to extend its elongation or to reduce acceleration in order to minimize mechanical wear or prevent damage.
Moreover, it is additional possible that horizontal oscillations may occur during travel in the shaft. Moreover, in respect of the loading and unloading process, when the hoist container is located outside the optimum position, the material to be conveyed can miss the hoist container and fall into the shaft.
Therefore, the invention is based on the object of ensuring height compensation of a hoist container during loading and unloading of a hoist's hoist containers.
The object is achieved according to the invention by a method for actuating a hoist, in particular for a shaft hoisting system comprising a drive having an associated control device, a cable carrier, at least one hoisting cable and at least one hoist container arranged on the hoisting cable for the vertical transport of material to be conveyed, wherein, during
Hoisting cable lengths have a series of drawbacks. The hoist container and hence the hoisting cable start to oscillate vertically. In addition, during the loading process, the hoist container moves downward out of the optimum loading position.
There are also secondary effects: an oscillating hoisting cable has a negative impact on the drive's speed and torque control and there can be a negative impact on the lifetime of the hoisting cable. The vertical oscillations can make it necessary to extend its elongation or to reduce acceleration in order to minimize mechanical wear or prevent damage.
Moreover, it is additional possible that horizontal oscillations may occur during travel in the shaft. Moreover, in respect of the loading and unloading process, when the hoist container is located outside the optimum position, the material to be conveyed can miss the hoist container and fall into the shaft.
Therefore, the invention is based on the object of ensuring height compensation of a hoist container during loading and unloading of a hoist's hoist containers.
The object is achieved according to the invention by a method for actuating a hoist, in particular for a shaft hoisting system comprising a drive having an associated control device, a cable carrier, at least one hoisting cable and at least one hoist container arranged on the hoisting cable for the vertical transport of material to be conveyed, wherein, during
3 loading or unloading of the at least one hoist container, the drive remains activated and, to compensate for a change to the hoisting cable length, a rotation angle of the cable carrier based on a predetermined rotation angle progression is continuously adjusted.
The object is further achieved according to the invention by a hoist, in particular for a shaft hoisting system, comprising a drive having a control device suitable for the performance of such a method.
Finally, the object is achieved according to the invention by a control device for actuating a hoist drive, in particular for a shaft hoisting system, suitable for the performance of such a method.
The advantages and preferred embodiments listed below with respect to the method can be transferred analogously to the drive and the control device.
The invention is based on the consideration that vertical displacement of a hoist container with respect to the loading position due to the elongation of the hoisting cable can be compensated in that the hoist container is moved in the direction of the drive at the appropriate speed. And vice versa, during unloading of the hoist container, the hoist container can be moved away from the drive since the hoisting cable contracts again due to the steadily decreasing load.
Here, a rotation angle or a speed setpoint of the cable carrier is specified as a manipulated variable for the control of the hoist so that the hoisting cable length is varied by the rotation of the cable carrier. As a result, the hoist
The object is further achieved according to the invention by a hoist, in particular for a shaft hoisting system, comprising a drive having a control device suitable for the performance of such a method.
Finally, the object is achieved according to the invention by a control device for actuating a hoist drive, in particular for a shaft hoisting system, suitable for the performance of such a method.
The advantages and preferred embodiments listed below with respect to the method can be transferred analogously to the drive and the control device.
The invention is based on the consideration that vertical displacement of a hoist container with respect to the loading position due to the elongation of the hoisting cable can be compensated in that the hoist container is moved in the direction of the drive at the appropriate speed. And vice versa, during unloading of the hoist container, the hoist container can be moved away from the drive since the hoisting cable contracts again due to the steadily decreasing load.
Here, a rotation angle or a speed setpoint of the cable carrier is specified as a manipulated variable for the control of the hoist so that the hoisting cable length is varied by the rotation of the cable carrier. As a result, the hoist
4 container remains in its optimum loading position and does not excite vertical oscillation.
To facilitate this, the drive or a converter of the hoist remains activated during the loading or unloading process. In particular, no mechanical brake device is applied, thus preventing wear of the brake elements. Hence, this also avoids dead times resulting from the application and release of the brake device and reduces the duration of the hoisting cycle.
Herein, the rotation angle progression of the cable carrier required for this compensation process is predetermined and stored. In particular, a speed setpoint curve is stored on the basis of which a setpoint torque profile is calculated for application to the drive during the loading or unloading process. The drive in turn controls the cable carrier with respect to a change to the rotation angle.
In view of the fact that compensation of the hoisting cable elongation is performed by means of control technology, the method is in particular characterized by precise setpoints and ease of retrofitting and calibration. A further advantage consists in the fact that the setpoint torque (holding torque) builds up relatively slowly. The torque build-up takes place uniformly within 20 to 30 seconds (for purposes of comparison, torque build-up on the release of the brake device usually takes place in about 200 msec). This reduces the shock load for both the electrical system (transformer, converter, motor) and the mechanical components of the hoist.
According to a preferred embodiment, the rotation angle progression is determined in that, first, a brake device for the hoist is actuated and, during loading or unloading of the at least one hoist container, a change to the hoisting cable length is measured and the rotation angle progression for the cable carrier is calculated therefrom. Herein, the vertical hoist container displacement due to the drive is compensated during the course of a controlled movement without the installation of further sensors to measure the actual values of the hoist. This method can be applied with the majority of hoists since the loading process is generally always the same and the loading sequence is approximately linear.
In respect of simplifying the method and saving time, the measurement of the change to the hoisting cable length is performed during the course of installation or maintenance work. Thus, it is not necessary for the displacement of the hoist to be determined continuously, instead the compensating rotation angle progression is ascertained directly or indirectly, i.e. per se or as other associated characteristics and parameters, once for example during the commissioning of the hoist and stored. The data ascertained can be recalibrated at a later time point during maintenance and repair work on the hoist.
It may be the case that, due to the different heights of the hoist container during loading and during unloading at these positions, there may be a discrepancy between the elongation and the relaxation of the hoisting cable. With respect to optimum compensation of these different lengths to be compensated, preferably a first measured value is measured for the change to the hoisting cable length during loading of the at least one hoist container, then a second measured value is measured for the change to the hoisting cable length during unloading of the at least one hoist container and, in the case of discrepancies between the two measured values, the mean value of the two measured values is defined as the change to the hoisting cable length to be compensated.
Expediently, the hoist comprises at least two hoist containers and the compensation for the change to the hoisting cable length is performed for all hoist containers. This ensures a particularly safe and efficient operation of the hoist.
The hoist preferably comprises two hoist containers and the loading of one of the hoist containers and the unloading of the other hoist container take place simultaneously. This results in a particularly advantageous synergy effect with which one single compensation movement of the drive counteracts both the elongation of the hoisting cable at the side of the hoist container to be loaded and the contraction of the hoisting cable at the side of the hoist container to be unloaded.
According to one aspect of the present invention, there is provided a method for actuating a hoist, for a shaft hoisting system comprising a drive having an associated control device, a cable carrier, at least one hoisting cable and at least one hoist container arranged on the hoisting cable for the vertical transport of material to be conveyed, wherein, during loading or unloading of the at least one hoist container, the drive remains activated and, to compensate for a change to the hoisting cable length, a rotation angle of the cable carrier is continuously adjusted based on a predetermined rotation angle progression; wherein the rotation angle progression is determined in that, first, a brake device for the hoist is actuated and, during loading or unloading of the at least one hoist container, a change to the hoisting cable length is , .
, , , 6a measured and the rotation angle progression for the cable carrier is calculated therefrom.
An exemplary embodiment of the invention is described in more detail with reference to a drawing. Herein, the sole figure is a greatly simplified depiction of a hoist 2 for a shaft hoisting system. The hoist comprises a drive 4, which is actuated by a control device 6. In the exemplary embodiment shown, the hoist 2 also comprises a cable carrier 8, which is driven by the drive 4, and a hoisting cable 10 with two hoist containers 12, 14 for the vertical transport of material to be conveyed, not shown in any further detail here, for example coal or ore. However, the hoist containers 12, 14 can also be used to transport people.
The exemplary embodiment shown only depicts a hoisting cable.
However, it is also possible for a plurality of hoisting 7' cables to be used to suspend the respective hoist container 12, 14.
Herein, the hoist 2 is suitable for the transportation of material to be conveyed between 200 m and 4000 m in a shaft which is not shown in any further detail. In operation, the hoist containers 12, 14 are generally loaded alternately at a bottom station H2 in the shaft, transported upward and unloaded at a top station H1. Herein, up to 80 t are loaded or unloaded or at a rate of about 1 t/sec.
The figure depicts a situation in which the hoist container 12 is unloaded on the left-hand side of the hoist 2 while the hoist container 14 is simultaneously loaded on the right-hand side. Unloading the hoist container 12 reduces the weight on this side of the cable carrier 8 so that the forces acting on the hoisting cable 10 gradually decrease and the hoisting cable 10 contracts and hence the hoist container 12 would move vertically into a higher position, depicted by dashed lines.
In the figure, this is indicated by a relaxed spring in the region of the hoisting cable 10 above the hoist container 12.
On the right-hand side of the cable carrier 8, a similar process takes place during the simultaneous loading of the hoist container 14 but in the opposite direction. The constantly increasing weight in the hoist container 14 causes an ever-increasing downward force to act on the hoisting cable so that the hoisting cable 10 elongates, as is symbolically depicted by a tensioned spring. Depending upon the hoisting cable length and weight of the material to be conveyed, a hoisting cable 10 can be elongated by up to 1.5 m. Herein, without any internal influence, the hoist container 14 would adopt a lower position, as indicated in the figure with dashed lines.
In order to counteract the change to the hoisting cable length during unloading of the hoist container 12, the fact that the drive 4 is still activated during the unloading process causes the cable carrier 8 to be rotated such that the hoist container 12 is moved downward away from the cable carrier 8 at the same speed as the hoist container 12 is moving "upward". To this end, the drive 4 remains active during loading or unloading. In particular, here a brake device (not shown) for the hoist 2 is not actuated. The control device 6 continuously applies a predetermined setpoint torque onto the drive 4 thus inducing rotation of the cable carrier 8. The movement of the cable carrier 8 is illustrated in the figure by the angle a. The rotation of the cable carrier 8 about the angle a has the result that, despite the increasingly shorter length of the hoisting cable 10 during unloading, the hoist container 12 always remains in the same vertical Position H1.
The cable elongation at the side of the hoist container 14 to be loaded is compensated in that, with a still active drive 4, the hoist container 14 is moved at the corresponding speed in the direction of the cable carrier 8. The result of this compensatory movement of the cable carrier 8 is that the hoist container 14 also remains in the same vertical position H2 during the entire loading process.
In the exemplary embodiment shown, the two hoist containers 12, 14 are unloaded or unloaded in parallel and therefore rotation of the cable carrier 8 about the angle a is sufficient to compensate the changes to the hoisting cable length on both sides of the cable carrier 8 simultaneously.
9' Herein, the setpoint torque might possibly change direction during this process.
On average, the hoisting cable 10 is elongated by about 1 meter per 1000 m cable length. The loading takes about 0.5 to 1 sec per metric ton. Hence, the hoist 2 is moved at a speed of about 0.05 m/sec for about 20 seconds.
If the hoist 2 comprises a plurality of hoist containers 12, 14 and loading or unloading does not take place simultaneously, the drive 4 is actuated alternately in order to compensate the respective vertical displacement of the hoist container currently in use. The same applies to a hoist 2 with only one hoist container and one counterweight: the direction of rotation of the cable carrier 8 changes according to the position HI, H2 of the hoist container.
If both the elongation and the relaxation of the hoisting cable 10 relative to a hoist container 12, 14 are measured, it may be the case that, due to the different height H1, H2 of the hoist container during loading and during unloading, the extension and relaxation of the hoisting cable differ from one another. Therefore, in particular, a first measured value is measured for the change to the hoisting cable length during loading and then a second measured value is measured for the change to the hoisting cable length during unloading and in the case of discrepancies between the two measured values the mean value of the two measured values is formed and considered to be the value to be compensated.
The rotation angle a required to compensate the change to the length of the hoisting cable 10 is determined once or at lengthy intervals of several hundred operating hours and stored for the normal operation of the hoisting system 2 in the form of parameters for directional control of the hoist 2.
To this end, first, the elongation of the hoisting cable 10 is measured. The measurement can be performed during the loading process. Supplementarily or alternatively, it is possible for the contraction of the hoisting cable 10 to be measured during the unloading process. In the exemplary embodiment shown, the information on the elongation of the hoisting cable 10 on the loading and/or unloading time is used to ascertain a speed setpoint curve (distance over time), which forms the basis for the drive control during the operation of the hoist 2. The control device 6 uses the speed setpoint curve to calculate the course of the setpoint torque for the drive 4, which is applied to the drive 4 during operation.
The fact that the position of the hoist containers 12, 14 remains constant means that in particular no vertical oscillations are induced and accordingly the start-up of the hoist 2 at the start of the respective next travel cycle is free of oscillations. Moreover, the cable loading is lower. In addition, the described method results in increased productivity since there are no dead times due to the activation and releasing of the mechanical brake device, thus enabling a fast start-up.
To facilitate this, the drive or a converter of the hoist remains activated during the loading or unloading process. In particular, no mechanical brake device is applied, thus preventing wear of the brake elements. Hence, this also avoids dead times resulting from the application and release of the brake device and reduces the duration of the hoisting cycle.
Herein, the rotation angle progression of the cable carrier required for this compensation process is predetermined and stored. In particular, a speed setpoint curve is stored on the basis of which a setpoint torque profile is calculated for application to the drive during the loading or unloading process. The drive in turn controls the cable carrier with respect to a change to the rotation angle.
In view of the fact that compensation of the hoisting cable elongation is performed by means of control technology, the method is in particular characterized by precise setpoints and ease of retrofitting and calibration. A further advantage consists in the fact that the setpoint torque (holding torque) builds up relatively slowly. The torque build-up takes place uniformly within 20 to 30 seconds (for purposes of comparison, torque build-up on the release of the brake device usually takes place in about 200 msec). This reduces the shock load for both the electrical system (transformer, converter, motor) and the mechanical components of the hoist.
According to a preferred embodiment, the rotation angle progression is determined in that, first, a brake device for the hoist is actuated and, during loading or unloading of the at least one hoist container, a change to the hoisting cable length is measured and the rotation angle progression for the cable carrier is calculated therefrom. Herein, the vertical hoist container displacement due to the drive is compensated during the course of a controlled movement without the installation of further sensors to measure the actual values of the hoist. This method can be applied with the majority of hoists since the loading process is generally always the same and the loading sequence is approximately linear.
In respect of simplifying the method and saving time, the measurement of the change to the hoisting cable length is performed during the course of installation or maintenance work. Thus, it is not necessary for the displacement of the hoist to be determined continuously, instead the compensating rotation angle progression is ascertained directly or indirectly, i.e. per se or as other associated characteristics and parameters, once for example during the commissioning of the hoist and stored. The data ascertained can be recalibrated at a later time point during maintenance and repair work on the hoist.
It may be the case that, due to the different heights of the hoist container during loading and during unloading at these positions, there may be a discrepancy between the elongation and the relaxation of the hoisting cable. With respect to optimum compensation of these different lengths to be compensated, preferably a first measured value is measured for the change to the hoisting cable length during loading of the at least one hoist container, then a second measured value is measured for the change to the hoisting cable length during unloading of the at least one hoist container and, in the case of discrepancies between the two measured values, the mean value of the two measured values is defined as the change to the hoisting cable length to be compensated.
Expediently, the hoist comprises at least two hoist containers and the compensation for the change to the hoisting cable length is performed for all hoist containers. This ensures a particularly safe and efficient operation of the hoist.
The hoist preferably comprises two hoist containers and the loading of one of the hoist containers and the unloading of the other hoist container take place simultaneously. This results in a particularly advantageous synergy effect with which one single compensation movement of the drive counteracts both the elongation of the hoisting cable at the side of the hoist container to be loaded and the contraction of the hoisting cable at the side of the hoist container to be unloaded.
According to one aspect of the present invention, there is provided a method for actuating a hoist, for a shaft hoisting system comprising a drive having an associated control device, a cable carrier, at least one hoisting cable and at least one hoist container arranged on the hoisting cable for the vertical transport of material to be conveyed, wherein, during loading or unloading of the at least one hoist container, the drive remains activated and, to compensate for a change to the hoisting cable length, a rotation angle of the cable carrier is continuously adjusted based on a predetermined rotation angle progression; wherein the rotation angle progression is determined in that, first, a brake device for the hoist is actuated and, during loading or unloading of the at least one hoist container, a change to the hoisting cable length is , .
, , , 6a measured and the rotation angle progression for the cable carrier is calculated therefrom.
An exemplary embodiment of the invention is described in more detail with reference to a drawing. Herein, the sole figure is a greatly simplified depiction of a hoist 2 for a shaft hoisting system. The hoist comprises a drive 4, which is actuated by a control device 6. In the exemplary embodiment shown, the hoist 2 also comprises a cable carrier 8, which is driven by the drive 4, and a hoisting cable 10 with two hoist containers 12, 14 for the vertical transport of material to be conveyed, not shown in any further detail here, for example coal or ore. However, the hoist containers 12, 14 can also be used to transport people.
The exemplary embodiment shown only depicts a hoisting cable.
However, it is also possible for a plurality of hoisting 7' cables to be used to suspend the respective hoist container 12, 14.
Herein, the hoist 2 is suitable for the transportation of material to be conveyed between 200 m and 4000 m in a shaft which is not shown in any further detail. In operation, the hoist containers 12, 14 are generally loaded alternately at a bottom station H2 in the shaft, transported upward and unloaded at a top station H1. Herein, up to 80 t are loaded or unloaded or at a rate of about 1 t/sec.
The figure depicts a situation in which the hoist container 12 is unloaded on the left-hand side of the hoist 2 while the hoist container 14 is simultaneously loaded on the right-hand side. Unloading the hoist container 12 reduces the weight on this side of the cable carrier 8 so that the forces acting on the hoisting cable 10 gradually decrease and the hoisting cable 10 contracts and hence the hoist container 12 would move vertically into a higher position, depicted by dashed lines.
In the figure, this is indicated by a relaxed spring in the region of the hoisting cable 10 above the hoist container 12.
On the right-hand side of the cable carrier 8, a similar process takes place during the simultaneous loading of the hoist container 14 but in the opposite direction. The constantly increasing weight in the hoist container 14 causes an ever-increasing downward force to act on the hoisting cable so that the hoisting cable 10 elongates, as is symbolically depicted by a tensioned spring. Depending upon the hoisting cable length and weight of the material to be conveyed, a hoisting cable 10 can be elongated by up to 1.5 m. Herein, without any internal influence, the hoist container 14 would adopt a lower position, as indicated in the figure with dashed lines.
In order to counteract the change to the hoisting cable length during unloading of the hoist container 12, the fact that the drive 4 is still activated during the unloading process causes the cable carrier 8 to be rotated such that the hoist container 12 is moved downward away from the cable carrier 8 at the same speed as the hoist container 12 is moving "upward". To this end, the drive 4 remains active during loading or unloading. In particular, here a brake device (not shown) for the hoist 2 is not actuated. The control device 6 continuously applies a predetermined setpoint torque onto the drive 4 thus inducing rotation of the cable carrier 8. The movement of the cable carrier 8 is illustrated in the figure by the angle a. The rotation of the cable carrier 8 about the angle a has the result that, despite the increasingly shorter length of the hoisting cable 10 during unloading, the hoist container 12 always remains in the same vertical Position H1.
The cable elongation at the side of the hoist container 14 to be loaded is compensated in that, with a still active drive 4, the hoist container 14 is moved at the corresponding speed in the direction of the cable carrier 8. The result of this compensatory movement of the cable carrier 8 is that the hoist container 14 also remains in the same vertical position H2 during the entire loading process.
In the exemplary embodiment shown, the two hoist containers 12, 14 are unloaded or unloaded in parallel and therefore rotation of the cable carrier 8 about the angle a is sufficient to compensate the changes to the hoisting cable length on both sides of the cable carrier 8 simultaneously.
9' Herein, the setpoint torque might possibly change direction during this process.
On average, the hoisting cable 10 is elongated by about 1 meter per 1000 m cable length. The loading takes about 0.5 to 1 sec per metric ton. Hence, the hoist 2 is moved at a speed of about 0.05 m/sec for about 20 seconds.
If the hoist 2 comprises a plurality of hoist containers 12, 14 and loading or unloading does not take place simultaneously, the drive 4 is actuated alternately in order to compensate the respective vertical displacement of the hoist container currently in use. The same applies to a hoist 2 with only one hoist container and one counterweight: the direction of rotation of the cable carrier 8 changes according to the position HI, H2 of the hoist container.
If both the elongation and the relaxation of the hoisting cable 10 relative to a hoist container 12, 14 are measured, it may be the case that, due to the different height H1, H2 of the hoist container during loading and during unloading, the extension and relaxation of the hoisting cable differ from one another. Therefore, in particular, a first measured value is measured for the change to the hoisting cable length during loading and then a second measured value is measured for the change to the hoisting cable length during unloading and in the case of discrepancies between the two measured values the mean value of the two measured values is formed and considered to be the value to be compensated.
The rotation angle a required to compensate the change to the length of the hoisting cable 10 is determined once or at lengthy intervals of several hundred operating hours and stored for the normal operation of the hoisting system 2 in the form of parameters for directional control of the hoist 2.
To this end, first, the elongation of the hoisting cable 10 is measured. The measurement can be performed during the loading process. Supplementarily or alternatively, it is possible for the contraction of the hoisting cable 10 to be measured during the unloading process. In the exemplary embodiment shown, the information on the elongation of the hoisting cable 10 on the loading and/or unloading time is used to ascertain a speed setpoint curve (distance over time), which forms the basis for the drive control during the operation of the hoist 2. The control device 6 uses the speed setpoint curve to calculate the course of the setpoint torque for the drive 4, which is applied to the drive 4 during operation.
The fact that the position of the hoist containers 12, 14 remains constant means that in particular no vertical oscillations are induced and accordingly the start-up of the hoist 2 at the start of the respective next travel cycle is free of oscillations. Moreover, the cable loading is lower. In addition, the described method results in increased productivity since there are no dead times due to the activation and releasing of the mechanical brake device, thus enabling a fast start-up.
Claims (7)
1. A method for actuating a hoist, for a shaft hoisting system comprising a drive having an associated control device, a cable carrier, at least one hoisting cable and at least one hoist container arranged on the hoisting cable for the vertical transport of material to be conveyed, wherein, during loading or unloading of the at least one hoist container, the drive remains activated and, to compensate for a change to the hoisting cable length, a rotation angle of the cable carrier is continuously adjusted based on a predetermined rotation angle progression;
wherein the rotation angle progression is determined in that, first, a brake device for the hoist is actuated and, during loading or unloading of the at least one hoist container, a change to the hoisting cable length is measured and the rotation angle progression for the cable carrier is calculated therefrom.
wherein the rotation angle progression is determined in that, first, a brake device for the hoist is actuated and, during loading or unloading of the at least one hoist container, a change to the hoisting cable length is measured and the rotation angle progression for the cable carrier is calculated therefrom.
2. The method as claimed in claim 1, wherein the measurement of the change to the hoisting cable length is performed during the course of installation or maintenance work.
3. The method as claimed in one of claims 1 or 2, wherein a first measured value for the change to the hoisting cable length is measured during loading of the at least one hoist container, a second measured value for the change to the hoisting cable length is measured during unloading of the at least one hoist container and, in the case of discrepancies between the two measured values, the mean value of the two measured values is defined as the change to the hoisting cable length to be compensated.
4. The method as claimed in one of claims 1 to 3, wherein the hoist comprises at least two hoist containers and the compensation for the change to the hoisting cable length is performed for all hoist containers.
5. The method as claimed in claim 4, wherein the hoist comprises two hoist containers and the loading of one of the hoist containers and the unloading of the other hoist container take place simultaneously.
6. A control device for actuating a drive of a hoist, for a shaft hoisting system, suitable for the performance of the method as claimed in one of claims 1 to 5.
7. A hoist, for a shaft hoisting system comprising a drive having a control device as claimed in claim 6.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP15197467.2 | 2015-12-02 | ||
| EP15197467.2A EP3176122A1 (en) | 2015-12-02 | 2015-12-02 | Method for controlling a conveyor machine, conveyor machine and control device for controlling a drive of a conveyor machine |
| PCT/EP2016/076500 WO2017092959A1 (en) | 2015-12-02 | 2016-11-03 | Method for actuating a hoist, hoist, and control device for actuating a hoist drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA3006961A1 CA3006961A1 (en) | 2017-06-08 |
| CA3006961C true CA3006961C (en) | 2020-04-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA3006961A Active CA3006961C (en) | 2015-12-02 | 2016-11-03 | Method for actuating a hoist, hoist and control device for actuating a hoist drive |
Country Status (10)
| Country | Link |
|---|---|
| EP (2) | EP3176122A1 (en) |
| CN (1) | CN108290717B (en) |
| AU (1) | AU2016363478B2 (en) |
| CA (1) | CA3006961C (en) |
| LT (1) | LT3365262T (en) |
| PL (1) | PL3365262T3 (en) |
| RS (1) | RS59438B1 (en) |
| RU (1) | RU2700906C1 (en) |
| WO (1) | WO2017092959A1 (en) |
| ZA (1) | ZA201803558B (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3158228A (en) * | 1961-07-18 | 1964-11-24 | Anglo Amer Corp South Africa | Rope stretch compensator for suspended conveyances in mine hoisting equipment |
| JPH11255452A (en) * | 1998-03-12 | 1999-09-21 | Toshiba Fa Syst Eng Corp | Guide device for elevator compensating rope |
| KR100406871B1 (en) * | 2003-01-11 | 2003-12-03 | Jeong Du Choi | Device for equalizing rope tension of elevator |
| JP4347293B2 (en) * | 2003-05-30 | 2009-10-21 | オーチス エレベータ カンパニー | Tie-down compensation for elevator systems |
| US7360630B2 (en) * | 2004-04-16 | 2008-04-22 | Thyssenkrupp Elevator Capital Corporation | Elevator positioning system |
| DE102004058757A1 (en) | 2004-12-06 | 2005-07-07 | Siemens Ag | Shaft or mine shaft transport system has a system of impulse counters linked to a digital control system that is used to determine the amount of cable paid out and the speed of travel and position of cabins within the shaft |
| KR101269060B1 (en) * | 2008-02-26 | 2013-05-29 | 오티스 엘리베이터 컴파니 | Dynamic compensation during elevator car re-leveling |
| JP2010208752A (en) * | 2009-03-09 | 2010-09-24 | Toshiba Elevator Co Ltd | Elevator device |
| CN102398834A (en) * | 2010-09-11 | 2012-04-04 | 鲁继成 | Direct connection type hydraulic rope regulator |
| WO2014118315A1 (en) * | 2013-02-04 | 2014-08-07 | Inventio Ag | Compensation element with blocking device |
| CN104140019B (en) * | 2014-07-07 | 2017-05-03 | 日立电梯（中国）有限公司 | Control device and control method of elevator lift car position |
-
2015
- 2015-12-02 EP EP15197467.2A patent/EP3176122A1/en not_active Withdrawn
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2016
- 2016-11-03 WO PCT/EP2016/076500 patent/WO2017092959A1/en active Application Filing
- 2016-11-03 AU AU2016363478A patent/AU2016363478B2/en not_active Withdrawn - After Issue
- 2016-11-03 RS RSP20191304 patent/RS59438B1/en unknown
- 2016-11-03 CN CN201680070349.XA patent/CN108290717B/en active Active
- 2016-11-03 LT LT16797768T patent/LT3365262T/en unknown
- 2016-11-03 PL PL16797768T patent/PL3365262T3/en unknown
- 2016-11-03 EP EP16797768.5A patent/EP3365262B1/en active Active
- 2016-11-03 CA CA3006961A patent/CA3006961C/en active Active
- 2016-11-03 RU RU2018120354A patent/RU2700906C1/en active
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2018
- 2018-05-29 ZA ZA2018/03558A patent/ZA201803558B/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| CN108290717B (en) | 2019-12-06 |
| RS59438B1 (en) | 2019-11-29 |
| EP3176122A1 (en) | 2017-06-07 |
| PL3365262T3 (en) | 2020-03-31 |
| LT3365262T (en) | 2019-10-25 |
| WO2017092959A1 (en) | 2017-06-08 |
| CA3006961A1 (en) | 2017-06-08 |
| EP3365262B1 (en) | 2019-08-28 |
| EP3365262A1 (en) | 2018-08-29 |
| AU2016363478A1 (en) | 2018-06-14 |
| ZA201803558B (en) | 2019-03-27 |
| RU2700906C1 (en) | 2019-09-23 |
| AU2016363478B2 (en) | 2019-07-04 |
| CN108290717A (en) | 2018-07-17 |
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Legal Events
| Date | Code | Title | Description |
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| EEER | Examination request |
Effective date: 20180530 |