CN103303834A - System and method for protecting rotating shaft of crane driving mechanism - Google Patents
System and method for protecting rotating shaft of crane driving mechanism Download PDFInfo
- Publication number
- CN103303834A CN103303834A CN2012100579744A CN201210057974A CN103303834A CN 103303834 A CN103303834 A CN 103303834A CN 2012100579744 A CN2012100579744 A CN 2012100579744A CN 201210057974 A CN201210057974 A CN 201210057974A CN 103303834 A CN103303834 A CN 103303834A
- Authority
- CN
- China
- Prior art keywords
- winding drum
- rotating shaft
- controller
- shaft
- stroke
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004804 winding Methods 0.000 claims abstract description 94
- 238000006073 displacement reaction Methods 0.000 claims abstract description 32
- 230000005540 biological transmission Effects 0.000 claims description 22
- 238000012545 processing Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 description 12
- 239000003758 nuclear fuel Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Images
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to the field of hoisting machinery, and discloses a system and a method for protecting a rotating shaft of a crane driving mechanism. The system and the method for protecting the rotating shaft are different from a detection technology in the prior art that a motor and a winding drum need to be respectively provided with a position encoder, only a displacement measuring device needs to be installed on the winding drum, the rotation speed information of the motor is acquired from a servo drive of a servo motor, the rotation speed information of the motor is converted to the rotation speed of the rotating shaft of the winding drum, a theoretical traveling distance of the rotating shaft of the winding drum is obtained by integrating the rotation speed of the rotating shaft of the winding drum within a fixed period of time, the theoretical traveling distance is compared with the real traveling distance recorded by the displacement measuring device, when the difference between the theoretical traveling distance and the real traveling distance exceeds a preset warning value, a shaft broken accident can be determined, and a brake device is controlled to brake. The system and the method for protecting the rotating shaft of the crane driving mechanism have the advantages of low cost, high reliability and high detection accuracy and are applicable to a nuclear-grade device associated to the nuclear security.
Description
Technical Field
The invention relates to the field of hoisting machinery, in particular to a rotating shaft protection system and method of a crane driving mechanism.
Background
The nuclear fuel loading, unloading and storing system is responsible for lifting and transferring nuclear fuel assemblies during overhaul of a nuclear power station, wherein a crane is indispensable operation equipment, shaft breakage accident protection of a driving mechanism is needed in the aspect of safety protection of the crane to prevent shaft breakage accidents, the shaft breakage accident mainly refers to a rotor running at a high speed, serious accidents of shaft breakage or rotor runaway are caused in a weak link of a shaft due to crack propagation or overload plastic instability, once the shaft breakage accident occurs, nuclear safety is directly influenced, and therefore the shaft breakage detection technology plays an important role in preventing the nuclear fuel accidents and ensuring the nuclear safety.
As shown in fig. 1, in the prior art, a rotating shaft protection system adopted by a crane driving mechanism generally installs an encoder at both the high-speed end (motor) and the low-speed end (winding drum) of the driving mechanism, in the working process of the driving mechanism, the high-speed end encoder detects the rotating speed of the motor, the low-speed end encoder detects the rotating speed of the winding drum, the ratio of the rotating speed of the winding drum divided by the rotating speed of the motor is compared with the fixed transmission ratio of a gear box, if the difference between the ratio and the transmission ratio exceeds a certain limit, it is determined that a shaft breakage accident occurs, and a brake device is immediately controlled to brake, so as to avoid the occurrence of more serious accidents. In the prior art, the following defects exist in the practical application process:
1. the cost is high, and two sets of encoders are required to be respectively arranged at the high-speed end and the low-speed end of the driving mechanism in the prior art;
2. the reliability is poor, and because the rotating speed of the motor is very high, the probability of damage of the high-speed end encoder is high;
3. the accuracy is low, and the rotation speed is compared, so that the influence of the instantaneous state is large, and misjudgment sometimes occurs.
Due to the defects of the prior art, especially the prior art cannot be applied to the nuclear related equipment which is directly related to the nuclear safety and has strict requirements on the safety level, a more advanced broken shaft detection technology needs to be developed.
Disclosure of Invention
The invention aims to solve the technical problem of improving the reliability and accuracy of shaft breakage accident detection and protection, and provides a rotating shaft protection system and a rotating shaft protection method for a crane driving mechanism.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides a rotating shaft protection system of a crane driving mechanism, wherein the crane driving mechanism comprises a servo driver, a servo motor controlled by the servo driver, a gear box driven by the servo motor and a winding drum, and the gear box transmits power provided by the servo motor to the winding drum to drive the winding drum to rotate; wherein,
the controller obtains the rotation speed information of the servo motor from the servo driver, the rotation speed of the rotating shaft of the winding drum is obtained through calculation according to the rotation speed information and the transmission ratio of the gearbox, and the theoretical running stroke A of the rotating shaft of the winding drum in a time interval t1 is calculated according to the rotation speed of the rotating shaft of the winding drum;
the displacement measurement is used for recording the stroke of the rotating shaft of the winding drum, and the controller acquires the stroke output difference value of the displacement measurement device at the starting time and the ending time of the time interval t1 as the actual running stroke B of the rotating shaft of the winding drum;
and the controller compares the theoretical running stroke A with the actual running stroke B, and when the absolute value delta of the difference value deviates from the preset warning value C, the controller judges that the equipment has an accident and controls the brake device to brake.
Specifically, the brake device is mounted on the drum.
In particular, the displacement measuring device is an encoder.
In particular, the controller is a programmable controller.
Further, the device also comprises at least one indicator light controlled by the controller, and the controller lights the indicator light when the shaft breakage accident occurs.
The shaft-breaking alarm device further comprises an alarm controlled by the controller, and when a shaft-breaking accident occurs, the controller controls the alarm to give out an alarm sound.
The invention also provides a method for protecting a rotating shaft of a crane driving mechanism, wherein the crane driving mechanism comprises a servo driver, a servo motor controlled by the servo driver, a gear box driven by the servo motor and a winding drum, and the gear box transmits power provided by the motor to the winding drum to drive the winding drum to rotate, and the method is characterized by comprising the following steps of:
s1: processing to obtain a theoretical running stroke A of the rotating shaft of the winding drum within a time interval t1 according to the speed information of the servo motor and the transmission ratio of the gearbox;
s2: acquiring and processing the difference between the starting time and the ending time of the time interval t1 and the rotating shaft stroke data of the winding drum to obtain the actual running stroke B of the rotating shaft of the winding drum in the time interval t 1;
s3: and judging whether the absolute value of the difference value between the theoretical running travel A and the actual running travel B deviates from a preset warning value C, if so, sending a braking instruction, otherwise, returning to the step S1.
Specifically, in the step S1, the rotation speed information of the servo motor is obtained from the servo driver; and multiplying the rotating speed information by a transmission ratio to obtain the rotating speed of the rotating shaft of the winding drum, and integrating the rotating speed of the rotating shaft in the time interval t1 to obtain the theoretical running stroke A of the rotating shaft of the winding drum in the time interval t 1.
Specifically, in step S2, the distance of travel of the rotating shaft of the winding drum is recorded by a displacement measuring device, and the difference between the data of the distance of travel of the rotating shaft of the winding drum at the beginning time and the end time of the time interval t1 is calculated, so as to obtain the actual running distance B of the rotating shaft of the winding drum in the time interval t 1.
Specifically, in step S3, when it is determined that the absolute value of the difference between the theoretical operating stroke a and the actual operating stroke B is greater than the warning value C, it is determined that the shaft is broken, and a braking instruction is issued;
further, before step S1, the method further includes: s0, presetting the time interval t1, the transmission ratio and the guard value C.
The beneficial effects of the implementation of the invention are as follows: the rotating shaft protection system and the method of the crane driving mechanism provided by the invention only need to install the displacement measuring device at the low-speed end of the driving mechanism, save the measuring device installed at the high-speed end compared with the prior art, save the cost, improve the reliability of the equipment, and have small transient influence on the equipment due to comparison of the displacement value within a period of time, improve the precision of shaft breakage accident detection, can timely and accurately provide shaft breakage protection for the hoisting equipment, and can be particularly applied to nuclear-grade equipment directly related to nuclear safety.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a block diagram showing a schematic structure of a spindle protection system according to the prior art;
FIG. 2 is a schematic block diagram of a spindle protection system connection in an embodiment of the present invention;
FIG. 3 is a square waveform diagram of a PLC programming method according to an embodiment of the present invention;
fig. 4 is a flow chart of the method for protecting the rotating shaft of the crane driving mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 2, the invention provides a rotating shaft protection system of a crane driving mechanism, which is used for detecting and protecting a shaft breakage accident for the crane driving mechanism, wherein the crane driving mechanism comprises a servo driver 1, a servo motor 2 controlled by the servo driver 1, a gear box 3 driven by the servo motor 2 and a winding drum 4, and the gear box 3 transmits power provided by the servo motor 2 to the winding drum 4 to drive the winding drum 4 to rotate; the rotating shaft protection system comprises a controller 5 and a displacement measuring device 6, wherein the controller is set with a warning value C, the controller is in communication connection with the displacement measuring device 6 and the servo driver 1, and the rotating shaft protection system also comprises a brake device (not shown in the figure) which is connected with the controller 5 and is controlled by the controller 5 to brake a winding drum;
the displacement measuring device 6 is used for recording stroke data (rotational displacement) of the rotating shaft of the winding drum 4, and the displacement measuring device 6 is arranged at the shaft end of the winding drum 4 in the embodiment;
the controller 5 obtains the rotation speed information of the servo motor 2 from the servo driver 1, calculates the rotation speed of the rotating shaft of the winding drum 4 according to the rotation speed information and the transmission ratio of the gear box 3, and calculates the theoretical operating stroke A of the rotating shaft of the winding drum 4 in a time interval t1 according to the rotation speed of the rotating shaft of the winding drum 4; simultaneously acquiring the output difference value of the displacement measuring device 6 at the starting moment and the ending moment of the time interval t1 as the actual running stroke B of the rotating shaft of the winding drum 4; and comparing the theoretical running stroke A and the actual running stroke B of the rotating shaft of the winding drum 4, judging that a shaft breakage accident occurs when the absolute value delta of the difference value between the theoretical running stroke A and the actual running stroke B is greater than a preset warning value C, and controlling a brake device to brake by the controller 5 so as to protect the safety of equipment.
It should be noted that there are two calculation and determination manners for the theoretical operating stroke a and the actual operating stroke B, and those skilled in the art can select any one of them:
firstly, the controller 5 obtains the rotation angular speed omega of the servo motor from the servo driver, multiplies the angular speed omega by the transmission ratio n1 of the gear box 3 to calculate the rotation angular speed n1 omega of the rotating shaft of the winding drum 4, and integrates the rotation angular speed n1 omega of the rotating shaft of the winding drum 4 in a time interval t1 to obtain the theoretical running stroke A of the rotating shaft of the winding drum 4 in the time interval t 1; measuring the rotating angle of the rotating shaft of the reel 4 from the displacement measuring device 6, calculating the difference value of the rotating angle of the rotating shaft of the reel 4 at the starting time and the ending time of the time interval t1, and taking the difference value as the actual running stroke B of the rotating shaft of the reel; and comparing the theoretical running stroke A and the actual running stroke B of the rotating shaft of the winding drum 4, judging whether the absolute value of the difference value of the theoretical running stroke A and the actual running stroke B is greater than a preset warning value C, and if so, judging that a shaft breakage accident occurs, and controlling the brake device to brake by the controller 5. In this calculation, the transmission ratio n1 refers to the ratio of the angular speed of rotation of the rotating shaft of the reel 4 to the angular speed of rotation of the servomotor, and the theoretical stroke a and the actual stroke B refer to the respective theoretical and actual angles of rotation of the rotating shaft of the reel during the time interval t1, the corresponding warning value C also being an angle value.
Secondly, the controller 5 obtains the rotating linear velocity v of the servo motor from the servo driver, multiplies the linear velocity v by the transmission ratio n2 of the gear box 3 to calculate the rotating linear velocity n2v of the rotating shaft of the winding drum 4, and integrates the rotating linear velocity n2v of the rotating shaft of the winding drum 4 in a time interval t1 to obtain the theoretical operating stroke A of the rotating shaft of the winding drum 4 in the time interval t 1; measuring the stroke data of the rotating shaft of the winding drum 4 from the displacement measuring device 6, calculating the difference value of the stroke data of the rotating shaft of the winding drum 4 at the starting time and the ending time of the time interval t1, and taking the difference value as the actual running stroke B of the rotating shaft of the winding drum; and comparing the theoretical running stroke A and the actual running stroke B of the rotating shaft of the winding drum 4, judging whether the absolute value of the difference value of the theoretical running stroke A and the actual running stroke B is greater than a preset warning value C, and if so, judging that a shaft breakage accident occurs, and controlling the brake device to brake by the controller 5. In this calculation, the transmission ratio n2 refers to the ratio of the linear speed of rotation of the rotating shaft of the reel 4 to the linear speed of rotation of the servo motor, the theoretical operating stroke a and the actual operating stroke B refer to the respective theoretical and actual distances traveled by the rotating shaft of the reel during the time interval t1, and accordingly, the warning value C is a distance value.
Preferably, in the present embodiment, the controller 5 is communicatively connected with the displacement measuring device 6 and the servo driver 1 through a field bus to collect information from the displacement measuring device 6 and the servo driver 1, although other connection manners may be adopted.
Preferably, in this embodiment, the brake device is mounted on the drum 4 to brake in time of a broken shaft accident, although the brake device may be mounted on other suitable locations of the crane drive mechanism.
Preferably, the shaft protection system further comprises at least one indicator light (not shown in the figure), which is controlled by the controller 5 and is used for lighting or flashing to remind an operator of the related equipment when a shaft breakage accident occurs.
Preferably, the shaft protection system further comprises an alarm (not shown in the figure) controlled by the controller 5 for giving an alarm sound to alert an operator of the relevant equipment when a shaft breakage accident occurs.
In the present embodiment, an encoder capable of measuring displacement data is preferably used as the displacement measuring device 6, but a device such as an acceleration sensor may be used as the displacement measuring device 6.
It should be noted that the encoder includes various types and applications, some of which can collect and output rotational displacement data, and some of which can collect and output rotational speed data, in this embodiment, the encoder mounted on the rotating shaft of the winding drum outputs rotational displacement data (rotated angle or rotated distance) of the rotating shaft of the winding drum 4, while in the description of the prior art with reference to fig. 1, both encoders output rotational speed data.
Preferably, the controller 5 is a programmable controller, and of course, a device such as a microprocessor may also be used as the controller 5, in this embodiment, the following algorithm is applied to the programmable controller to calculate the theoretical operating stroke a and the actual operating stroke B, and to determine and process the broken shaft accident, but other suitable algorithms may also be applied to implement:
a group of continuous square waves with intervals of 100ms (t 1) and 10ms is obtained by adopting a PLC programming method, namely, a fixed time interval t1 is set to be 100ms, as shown in FIG. 3;
converting the rotation linear speed v of the servo motor 2 and the transmission ratio n of the gearbox 3 to obtain the rotating shaft rotating speed nv of the winding drum 4, and executing integration taking the rotating shaft rotating speed nv of the winding drum as a function in each 100ms interval (high level) to obtain the theoretical running stroke A of the rotating shaft of the winding drum 4 in a fixed time interval (100 ms); recording the output value of the encoder at the rising edge and the falling edge of the same 100ms square wave, wherein the difference value of the two is the actual running stroke B of the rotating shaft of the winding drum 4 in a fixed time interval (100 ms);
during the next 10ms low level period, the operation is stopped, the absolute value of the difference value obtained by subtracting B from A is obtained, and then whether the shaft breakage accident occurs is judged according to the delta, and the following two methods can be used for judging:
1. judging whether delta is greater than a preset warning value C or not, if delta is greater than C, determining that a broken shaft accident occurs, and immediately controlling a brake device to brake by using a programmable controller so as to protect the safety of equipment;
2. of course, an alarm ratio r can also be set, when the delta/A or the delta/B is larger than the alarm ratio r (such as 1 percent), the axle breakage accident is considered to occur, and the programmable controller immediately controls the brake device to brake, so that the safety of the equipment is protected.
In the algorithm, the fixed time interval t1 is set to 100ms, but it should be noted that the fixed time interval t1 may be set to other values according to actual situations, and certainly, the length of t1 cannot be too long, and if the length is too long, the shaft breakage accident cannot be timely judged and protected, but the length of t1 cannot be too short, and if the length is too short, the calculation accuracy of the theoretical operating stroke a and the calculation accuracy of the actual operating stroke B are both reduced, so that the accuracy of judging the shaft breakage accident is reduced.
The above algorithm is exemplified by the second calculation method, and certainly, the first calculation method may also be adopted, and the two calculation methods are basically the same in step and are not described in detail.
The invention also provides a rotating shaft protection method of the crane driving mechanism, which is used for detecting and protecting the shaft breakage accident for the crane driving mechanism, wherein the driving mechanism comprises a servo driver, a servo motor controlled by the servo driver, a gear box driven by the servo motor and a winding drum, the gear box transmits the power provided by the motor to the winding drum to drive the winding drum to rotate, and referring to fig. 4, the rotating shaft protection method comprises the following steps:
s0, setting parameters needed by the method, including setting a time interval t1, a transmission ratio n of a high-speed end and a low-speed end of a driving mechanism and an alarm value C;
step S1, the controller obtains the rotation speed information of the servo motor from the servo driver, the rotation speed information is multiplied by the transmission ratio to obtain the rotation speed of the rotating shaft of the winding drum, and the rotation speed of the rotating shaft is integrated within a fixed time interval t1 to obtain the theoretical running stroke A of the rotating shaft of the winding drum within a time interval t 1;
step S2, recording the stroke (namely the rotation displacement data) of the rotating shaft of the winding drum through a displacement measuring device, and calculating the difference between the strokes of the rotating shaft of the winding drum at the starting time and the ending time of a time interval t1 to obtain the actual running stroke B of the rotating shaft of the winding drum within the time interval t 1;
and S3, judging whether the absolute value of the difference value between the theoretical running travel A and the actual running travel B is greater than a warning value C, if so, judging that the shaft breakage accident occurs, sending a braking instruction to a braking device by the controller to control the braking device to brake, otherwise, returning to S1 to continuously detect whether the shaft breakage accident occurs.
It should be noted that there are two calculation and determination manners for the theoretical operating stroke a and the actual operating stroke B, and those skilled in the art can select any one of them, which are respectively described as follows:
firstly, the controller 5 obtains the rotation angular speed omega of the servo motor from the servo driver, multiplies the angular speed omega by the transmission ratio n1 of the gear box 3 to calculate the rotation angular speed n1 omega of the rotating shaft of the winding drum 4, and integrates the rotation angular speed n1 omega of the rotating shaft of the winding drum 4 in a time interval t1 to obtain the theoretical running stroke A of the rotating shaft of the winding drum 4 in the time interval t 1; measuring the rotating angle of the rotating shaft of the reel 4 from the displacement measuring device 6, calculating the difference value of the rotating angle of the rotating shaft of the reel 4 at the starting time and the ending time of the time interval t1, and taking the difference value as the actual running stroke B of the rotating shaft of the reel; and comparing the theoretical running stroke A and the actual running stroke B of the rotating shaft of the winding drum 4, judging whether the absolute value of the difference value of the theoretical running stroke A and the actual running stroke B is greater than a preset warning value C, and if so, judging that a shaft breakage accident occurs, and controlling the brake device to brake by the controller 5. In this calculation, the transmission ratio n1 refers to the ratio of the angular speed of rotation of the rotating shaft of the reel 4 to the angular speed of rotation of the servomotor, and the theoretical stroke a and the actual stroke B refer to the respective theoretical and actual angles of rotation of the rotating shaft of the reel during the time interval t1, the corresponding warning value C also being an angle value.
Secondly, the controller 5 obtains the rotating linear velocity v of the servo motor from the servo driver, multiplies the linear velocity v by the transmission ratio n2 of the gear box 3 to calculate the rotating linear velocity n2v of the rotating shaft of the winding drum 4, and integrates the rotating linear velocity n2v of the rotating shaft of the winding drum 4 in a time interval t1 to obtain the theoretical operating stroke A of the rotating shaft of the winding drum 4 in the time interval t 1; measuring the stroke data of the rotating shaft of the winding drum 4 from the displacement measuring device 6, calculating the difference value of the stroke data of the rotating shaft of the winding drum 4 at the starting time and the ending time of the time interval t1, and taking the difference value as the actual running stroke B of the rotating shaft of the winding drum; and comparing the theoretical running stroke A and the actual running stroke B of the rotating shaft of the winding drum 4, judging whether the absolute value of the difference value of the theoretical running stroke A and the actual running stroke B is greater than a preset warning value C, and if so, judging that a shaft breakage accident occurs, and controlling the brake device to brake by the controller 5. In this calculation, the transmission ratio n2 refers to the ratio of the linear speed of rotation of the rotating shaft of the reel 4 to the linear speed of rotation of the servo motor, the theoretical operating stroke a and the actual operating stroke B refer to the theoretical and actual distances respectively traveled by the rotating shaft of the reel during the time interval t1, and accordingly, the warning value C is a distance value.
The system and the method for protecting the rotating shaft of the crane driving mechanism are suitable for detecting and protecting the shaft breakage accidents of various crane driving mechanisms, have the advantages of low cost, high reliability and high detection accuracy, and can further prevent the nuclear fuel accidents and improve the nuclear safety when being applied to the crane used in a nuclear fuel loading, unloading and storing system.
The above-mentioned embodiments only represent the preferred embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A rotating shaft protection system of a crane driving mechanism comprises a servo driver (1), a servo motor (2) controlled by the servo driver (1), a gear box (3) and a winding drum (4) driven by the servo motor (2), wherein the gear box (3) transmits power provided by the servo motor (2) to the winding drum (4) to drive the winding drum (4) to rotate, and is characterized by comprising a controller (5) which is in communication connection with the servo driver (1) and is set with a warning value C, a displacement measuring device (6) which is in communication connection with the controller (5), and a brake device which is connected with the controller (5) and is controlled by the controller (5) to brake the winding drum (4); wherein,
the controller (5) obtains the rotation speed information of the servo motor (2) from the servo driver (1), calculates the rotation speed of the rotating shaft of the winding drum (4) according to the rotation speed information and the transmission ratio of the gear box (3), and calculates the theoretical running stroke A of the rotating shaft of the winding drum (4) in a time interval t1 according to the rotation speed of the rotating shaft of the winding drum (4);
the displacement measuring device (6) is used for recording the stroke of the rotating shaft of the winding drum (4), and the controller (5) acquires the stroke output difference of the displacement measuring device (6) at the starting time and the ending time of the time interval t1 as the actual running stroke B of the rotating shaft of the winding drum (4);
and the controller (5) compares the theoretical running stroke A with the actual running stroke B, and when the absolute value delta of the difference value deviates from the preset warning value C, the controller (5) judges that the equipment has an accident and controls the brake device to brake.
2. A crane-driven mechanism shaft protection system as claimed in claim 1, characterized in that the brake device is mounted on the drum (4).
3. A shaft protection system for a crane drive according to claim 1, characterized in that the displacement measuring device (6) is an encoder.
4. A shaft protection system for a crane drive according to claim 1, characterized in that the controller (5) is a programmable controller.
5. A shaft protection system for a crane drive according to claim 1, further comprising at least one indicator light controlled by the controller (5), the indicator light being illuminated by the controller (5) in the event of a shaft break.
6. The shaft protection system of a crane driving mechanism according to claim 1, further comprising an alarm controlled by the controller (5), wherein the controller (5) controls the alarm to sound when a shaft breakage accident occurs.
7. A method for protecting a rotating shaft of a crane driving mechanism, wherein the crane driving mechanism comprises a servo driver, a servo motor controlled by the servo driver, a gear box driven by the servo motor and a winding drum, the gear box transmits power provided by the motor to the winding drum to drive the winding drum to rotate, and the method is characterized by comprising the following steps of:
s1: processing to obtain a theoretical running stroke A of the rotating shaft of the winding drum within a time interval t1 according to the speed information of the servo motor and the transmission ratio of the gearbox;
s2: acquiring and processing the difference between the rotating shaft stroke data of the winding drum at the starting time and the ending time of the time interval t1 to obtain the actual running stroke B of the rotating shaft of the winding drum in the time interval t 1;
s3: and judging whether the absolute value of the difference value between the theoretical running travel A and the actual running travel B deviates from a preset warning value C, if so, sending a braking instruction, otherwise, returning to the step S1.
8. The shaft protection method as claimed in claim 7, wherein in step S1, the rotation speed information of the servo motor is obtained from the servo driver; and multiplying the rotation speed information by a transmission ratio to obtain the rotation speed of the rotating shaft of the winding drum, and integrating the rotation speed of the rotating shaft in the time interval t1 to obtain the theoretical running stroke A of the rotating shaft of the winding drum in the time interval t 1.
9. The shaft protection method as claimed in claim 8, wherein in step S2, the stroke of the shaft of the winding drum is recorded by a displacement measuring device, and the difference between the shaft stroke data of the winding drum at the beginning and the end of the time interval t1 is calculated to obtain the actual running stroke B of the shaft of the winding drum in the time interval t 1.
10. The method for protecting a rotating shaft of a crane driving mechanism according to any one of claims 7 to 9, wherein in step S3, when the absolute value of the difference between the theoretical operating stroke a and the actual operating stroke B is determined to be greater than the warning value C, it is determined that the shaft is broken and a braking instruction is issued;
before step S1, the method further includes: s0, presetting the time interval t1, the transmission ratio and the guard value C.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210057974.4A CN103303834B (en) | 2012-03-07 | 2012-03-07 | System and method for protecting rotating shaft of crane driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210057974.4A CN103303834B (en) | 2012-03-07 | 2012-03-07 | System and method for protecting rotating shaft of crane driving mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103303834A true CN103303834A (en) | 2013-09-18 |
| CN103303834B CN103303834B (en) | 2015-07-22 |
Family
ID=49129606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210057974.4A Active CN103303834B (en) | 2012-03-07 | 2012-03-07 | System and method for protecting rotating shaft of crane driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103303834B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104571080A (en) * | 2014-12-05 | 2015-04-29 | 中广核核电运营有限公司 | Simulating and testing system for ring crane lifting protection system |
| CN104973526A (en) * | 2015-07-06 | 2015-10-14 | 常熟市康达电器有限公司 | Distance measuring device for coal mine inclined roadway winch |
| CN110793421A (en) * | 2019-11-14 | 2020-02-14 | 珠海丽亭智能科技有限公司 | Length-variable robot stretching length measuring device |
| CN111026021A (en) * | 2019-12-25 | 2020-04-17 | 合肥工业大学 | Safety protection device suitable for belt transmission and control method |
| CN111559713A (en) * | 2019-12-24 | 2020-08-21 | 中国航空工业集团公司北京航空精密机械研究所 | Hoisting system |
| CN112408201A (en) * | 2020-10-23 | 2021-02-26 | 中联重科股份有限公司 | Safety detection method and device for limiter of tower crane |
| CN112408205A (en) * | 2020-10-30 | 2021-02-26 | 中联重科股份有限公司 | Tower crane safety detection method and device |
| CN112723168A (en) * | 2020-12-17 | 2021-04-30 | 中联重科股份有限公司 | Detection system and detection method for crane transmission mechanism and crane |
| CN113415746A (en) * | 2021-06-29 | 2021-09-21 | 攀钢集团西昌钢钒有限公司 | Sliding tank detection method and sliding tank detection system |
| CN115417334A (en) * | 2022-08-05 | 2022-12-02 | 杭州大杰智能传动科技有限公司 | Tower crane broken shaft protection device and broken shaft protection method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000154868A (en) * | 1998-11-19 | 2000-06-06 | Mitsubishi Electric Corp | Electronically controlled automatic transmission |
| CA2330734A1 (en) * | 2000-01-11 | 2001-07-11 | Donald J. Ehrlich | Brake wear and stroke length sensor and method of using same |
| CN1818410A (en) * | 2006-03-04 | 2006-08-16 | 吴思德 | Cam shaft of brake |
| JP3969222B2 (en) * | 2002-07-10 | 2007-09-05 | トヨタ自動車株式会社 | Abnormality detection device for motor drive system |
| CN201047803Y (en) * | 2007-05-18 | 2008-04-16 | 宝山钢铁股份有限公司 | Broken axis testing apparatus of universal axle |
| CN201901500U (en) * | 2010-11-24 | 2011-07-20 | 山东泰山天盾矿山机械有限公司 | Shaft breakage protective device for memorial archway type depth indicator of mine hoist |
-
2012
- 2012-03-07 CN CN201210057974.4A patent/CN103303834B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000154868A (en) * | 1998-11-19 | 2000-06-06 | Mitsubishi Electric Corp | Electronically controlled automatic transmission |
| CA2330734A1 (en) * | 2000-01-11 | 2001-07-11 | Donald J. Ehrlich | Brake wear and stroke length sensor and method of using same |
| JP3969222B2 (en) * | 2002-07-10 | 2007-09-05 | トヨタ自動車株式会社 | Abnormality detection device for motor drive system |
| CN1818410A (en) * | 2006-03-04 | 2006-08-16 | 吴思德 | Cam shaft of brake |
| CN201047803Y (en) * | 2007-05-18 | 2008-04-16 | 宝山钢铁股份有限公司 | Broken axis testing apparatus of universal axle |
| CN201901500U (en) * | 2010-11-24 | 2011-07-20 | 山东泰山天盾矿山机械有限公司 | Shaft breakage protective device for memorial archway type depth indicator of mine hoist |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104571080B (en) * | 2014-12-05 | 2017-02-01 | 中广核核电运营有限公司 | Simulating and testing system for ring crane lifting protection system |
| CN104571080A (en) * | 2014-12-05 | 2015-04-29 | 中广核核电运营有限公司 | Simulating and testing system for ring crane lifting protection system |
| CN104973526A (en) * | 2015-07-06 | 2015-10-14 | 常熟市康达电器有限公司 | Distance measuring device for coal mine inclined roadway winch |
| CN110793421A (en) * | 2019-11-14 | 2020-02-14 | 珠海丽亭智能科技有限公司 | Length-variable robot stretching length measuring device |
| CN111559713A (en) * | 2019-12-24 | 2020-08-21 | 中国航空工业集团公司北京航空精密机械研究所 | Hoisting system |
| CN111026021B (en) * | 2019-12-25 | 2021-01-01 | 合肥工业大学 | Control method suitable for electric hoist safety protection device |
| CN111026021A (en) * | 2019-12-25 | 2020-04-17 | 合肥工业大学 | Safety protection device suitable for belt transmission and control method |
| CN112408201A (en) * | 2020-10-23 | 2021-02-26 | 中联重科股份有限公司 | Safety detection method and device for limiter of tower crane |
| CN112408201B (en) * | 2020-10-23 | 2022-04-05 | 中联重科股份有限公司 | Safety detection method and device for limiter of tower crane |
| CN112408205A (en) * | 2020-10-30 | 2021-02-26 | 中联重科股份有限公司 | Tower crane safety detection method and device |
| CN112723168A (en) * | 2020-12-17 | 2021-04-30 | 中联重科股份有限公司 | Detection system and detection method for crane transmission mechanism and crane |
| CN113415746A (en) * | 2021-06-29 | 2021-09-21 | 攀钢集团西昌钢钒有限公司 | Sliding tank detection method and sliding tank detection system |
| CN115417334A (en) * | 2022-08-05 | 2022-12-02 | 杭州大杰智能传动科技有限公司 | Tower crane broken shaft protection device and broken shaft protection method |
| CN115417334B (en) * | 2022-08-05 | 2024-01-19 | 杭州大杰智能传动科技有限公司 | Broken shaft protection device and broken shaft protection method for tower crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103303834B (en) | 2015-07-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103303834B (en) | System and method for protecting rotating shaft of crane driving mechanism | |
| CN111751722B (en) | Oil-gas pump motor fault detection method and device | |
| CN102807170B (en) | Hoisting crane and double hoisting sync control device, control method | |
| CN103952528B (en) | Automatic steel charging locating system and method for heating furnace | |
| CN102150023A (en) | Method for checking a brake of a robot | |
| CN104807651A (en) | Electromechanical fault diagnosis method of electrical park brake (EPB) system | |
| CN105270953A (en) | Control device of elevator device, and elevator device thereof | |
| CN104512809A (en) | Monitoring method of braking fault of elevating mechanism in crane | |
| CN113247809A (en) | Crane type vibroflotation device winch control system and control method | |
| CN114325385A (en) | Motor rack broken shaft detection method | |
| CN117886245A (en) | Intelligent control method and control system for remote monitoring of tower crane | |
| CN214067015U (en) | Steel wire rope point inspection system of overhead manned device based on multiple sensors | |
| EP3851343B1 (en) | Tray extension positioning method and system | |
| CN105129656B (en) | A kind of hoisting machinery braking method and hoisting machinery brake apparatus | |
| CN117819395A (en) | Crown block control method and related equipment | |
| CN202107394U (en) | Electronic safety protection device of lifter | |
| CN111583591B (en) | Safety alarm method and device for hoisting machinery | |
| CN104058335A (en) | Crane hook safe operation control method, device and system and crane | |
| CN112723168B (en) | Detection system and detection method for crane transmission mechanism and crane | |
| CN112697461A (en) | Bridge inspection vehicle performance evaluation and early warning system and method | |
| CN105135466A (en) | Air preheater radial sealing control mechanism having over-moment protection device | |
| CN115417334B (en) | Broken shaft protection device and broken shaft protection method for tower crane | |
| CN210828530U (en) | Vertical lift type three-dimensional parking equipment lift positioning system | |
| CN217953871U (en) | Transmission failure detection device, transmission and working machine | |
| CN114275681B (en) | Control method and device for crane, controller and crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 518000 Guangdong province Futian District Shangbu Road West of the city of Shenzhen Shenzhen science and technology building 15 layer (1502-1504, 1506) Patentee after: CHINA NUCLEAR POWER TECHNOLOGY RESEARCH INSTITUTE Patentee after: China General Nuclear Power Corporation Address before: 518000 Guangdong, Futian District, Yitian Road, building A, block, building on the whole floor of A1301-1320 13 Patentee before: Zhongkehua Nuclear Power Technology Institute Co., Ltd. Patentee before: China Guangdong Nuclear Power Group Co., Ltd. |