CN103318787B - Winch hoister provided with inner flat cable - Google Patents
Winch hoister provided with inner flat cable Download PDFInfo
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- CN103318787B CN103318787B CN201310168007.XA CN201310168007A CN103318787B CN 103318787 B CN103318787 B CN 103318787B CN 201310168007 A CN201310168007 A CN 201310168007A CN 103318787 B CN103318787 B CN 103318787B
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Abstract
The invention provides a winch hoister provided with an inner flat cable, which comprises a servo motor, a reducer and winch equipment, wherein the winch equipment comprises a winch box body, a ball spline is connected with central machinery of a left end cover through a fixed gear, and the ball spline is coaxially linked with the reducer; the fixed gear is fixedly connected with a gear support disc through a planet gear, a reciprocating lead screw gear on the gear support disc is mechanically connected with the ball spline, and the reciprocating lead screw gear is linked with a reciprocating lead screw; the ball spline is further connected with a winding drum through a ball spline sleeve, and the reciprocating lead screw penetrates through the winding drum; a left winding drum blocking plate and a right winding drum blocking plate are arranged at the left end and the right end of the winding drum respectively; and the winch hoister provided with the inner flat cable further comprises a multi-ring absolute value encoder connected with the ball spline. The winch hoister can be used as an aviation winch, applied to various helicopters and used for completing rising and falling of goods or staff, and can meet use requirements in aspects of space, bearing capacity, safety and the like.
Description
[technical field]
The present invention relates to a kind of winch hoister, particularly a kind of interior winding displacement winch hoister with overload protection function.
[background technology]
Winch hoister generally comprises several parts such as actuating device, cylinder, wire-arranging mechanism, transmission device, control mechanism.
Actuating device comprises mechanical type, hydropneumatic, electrodynamic type.Wherein, mechanical type be comparatively applicable to propulsive effort needs not quite, the simple lift system of structure; Hydropneumatic can provide larger propulsive effort, and control accuracy is also higher, but equipment is huge, and maintenance cost is high; Electrodynamic type has the relatively simple advantage of easy to use, structure, and it is controlled to can be applicable to accurate tension force, the occasion that speed is adjustable.
Wire-arranging mechanism is divided into interior winding displacement and outer winding displacement.Wherein, interior wire-arranging mechanism is arranged in reel inside, reel can be forced to move axially and realize tight winding displacement during normal work; Outer wire-arranging mechanism is then that wire-arranging mechanism is arranged in reel outside, guiding mechanism and tension mechanism can be forced to move axially during normal work.Interior wire-arranging mechanism saves space and equipment, namely can complete winding displacement and commutation by the rotation of cylinder self.
Control mechanism is mainly to realize the functions such as acceleration and deceleration, rise and fall, control withdrawing rope length.Control mechanism is generally made up of a few partial contents such as sensor, controller, read out instruments, to realize the function that it will realize.
Therefore, the pursuit that appropriate assembly is higher with acquisition speed, start-stop controls more accurately, structure is simpler, safety performance is higher gig is those skilled in the art is always selected.In addition, when gig occurs under overload condition, can there is the excessive damage electric equipment of electric current in existing winch hoister usually because of overload, even occur that equipment is out of control, loads falls inferior dangerous situation, must do one's utmost to avoid.
[summary of the invention]
The object of the invention is the defect overcoming prior art, provide a kind of and control more accurate, that structure is simpler, safety performance is higher interior winding displacement winch hoister, and possess load safeguard function, guarantee that equipment stability and safety is under undesirably heavy loads run.
To achieve these goals, the invention provides a kind of interior winding displacement winch hoister, comprise servomotor 1, retarder 2 and hoisting equipment, wherein said hoisting equipment comprises winch casing 4, is located at the right end cap 3 at its two ends, left and right and left end cap 10, ball spline 13 is connected with the central robot of left end cap 10 by fixed gear wheel 8, described ball spline 13 and retarder 2 coaxial linkage; Fixed gear wheel 8 is fixedly connected with gear supporting disk 6 by planetary wheel 9, and the reciprocal screw gear 7 on gear supporting disk 6 is mechanically connected with ball spline 13, multiple screw gear 7 and the mechanical linkage of reciprocal leading screw 5; Ball spline 13 also connects reel 15 by ball spline sleeve 16, and reciprocal leading screw 5 is through reel 15; The two ends, left and right of described reel 15 are respectively equipped with reel right baffle-plate 14 and the right baffle plate 17 of reel; Described interior winding displacement winch hoister also comprises the multi-turn absolute value encoder 12 be connected with ball spline 13.
According to a kind of preferred implementation of above-mentioned interior winding displacement winch hoister, wherein said multi-turn absolute value encoder 12 is fixed on ball spline 13 by multi-turn absolute value encoder fixed mount 11.
In the present invention, multi-turn absolute value encoder is for measuring rotating speed with the coder of calculating location, is the product can buying acquisition, AVM58N series, the serial multi-turn absolute value encoder of ATM60 that such as Shanghai Hua Ming instrument and meter Co., Ltd sells.
In the present invention, preferably described retarder 2 is epicyclic reduction gears 2.
More preferably, described servomotor is servo/variable-frequency motor.
According to the particularly preferred embodiment of one, described interior winding displacement winch hoister also comprises the load transducer measuring described gig load-carrying, and described load transducer 20 is arranged on the bottom of winch casing 4, and is fixed together by bolt and casing 4.
Preferably, when the actual loading that described load transducer records is greater than rated load 1.5 times, servomotor 1 enters permanent torsional toughness operation mode.
During rope closing, before the hook being wrapped in steel rope 19 end on described reel 15 arrives desired location, by S=k × V
2lead carry out drag, wherein V(unit meter per second) be hoisting speed, k value is 1.2-1.8, S is stopping distance (unit rice).
In this application, the actual point value of k can adjust within the scope of 1.2-1.8 according to hoisting speed.Generally, hoisting speed is faster, and inertia is larger, and k value is larger, and stopping distance is also corresponding larger.Those skilled in the art also can according to the load-carrying of winch hoister hook, rope system the concrete value of friction coefficient to k suitably regulate, as long as but k value within the scope of 1.2-1.8, technical scheme of the present invention can be realized.
Interior winding displacement winch hoister of the present invention has following advantage:
1, wire-arranging mechanism adopts internal drive, decreases the space shared by external drive equipment;
2, have employed servo/variable-frequency motor to drive, low cruise is stablized, and overload capacity is strong, and the life-span is long, and noise is low, without electromagnetic interference;
3, the commutation of reel adopts reciprocal leading screw to realize, and need not increase extra reversing arrangement, effectively reduces the quantity of parts and saves more space;
4, the multi-turn absolute value encoder real time position realized in rise and fall process is adopted to monitor and end position protection, stability and safety performance brilliance;
5, by having the load transducer of overload prevention function, gig safety and stability is under undesirably heavy loads guaranteed.
The present invention can be used as aeroengine winches and is applied on various helicopter, for completing rising and the decline of goods or personnel, in space, load-carrying capacity, safety performance etc., all can meet operating needs.
[accompanying drawing explanation]
Fig. 1 is interior winding displacement hoisting owner TV structure figure of the present invention.
Wherein: 1, servomotor; 2, epicyclic reduction gear; 3, right end cap; 4, winch casing; 5, reciprocal leading screw; 6, gear supporting disk; 7, reciprocal screw gear; 8, fixed gear wheel; 9, planetary wheel; 10, left end cap; 11, multi-turn absolute value encoder fixed mount; 12, multi-turn absolute value encoder; 13, ball spline; 14, reel right baffle-plate; 15, reel; 16, ball spline sleeve; 17, the right baffle plate of reel; 18, bearing gland; 19, steel rope, 20 load transducers.
[detailed description of the invention]
Following embodiment is used for without limitation technical scheme of the present invention being described.The technical scheme that protection scope of the present invention should be recorded with claims is as the criterion.
Embodiment 1
Interior winding displacement winch hoister as shown in Figure 1.Wherein, steel rope 19 is wrapped on reel 15, and ball spline 13 is through ball spline sleeve 16 and reel 15, and left end cap 10 and right end cap 3 fix the two ends of ball spline 13 by bearing, and servomotor 1 connects planetary reduction gear 2.After servomotor 1 rotates, epicyclic reduction gear 2 drives ball spline 13 to rotate, and rotates to drive ball spline sleeve 16, reel 15 and ball spline 13 left end gear supporting disk 6.Planetary wheel 9 is driven to rotate together (now planetary wheel 9 speed equals drum speed) around fixed gear wheel 8 when gear supporting disk 6 rotates, and planetary wheel 9 passes through self output gear while rotating engages with reciprocal screw gear 7, reciprocal screw gear 7 is driven to rotate (speed of reciprocal screw gear 7 is 1/3 of drum speed), the reciprocal leading screw 5 be connected with reciprocal screw gear 7 also rotates thereupon, load transducer 20 on reciprocal leading screw guides reel 15 and ball spline is enclosed within sway on ball spline 13, thus make steel rope on reel, carry out orderly winding displacement while reel rotates.The multi-turn absolute value encoder 12 being fixed on ball spline left end records the length of winding displacement and location information and is uploaded to upper computer (controller), carries out follow-up control.Load transducer response changes in weight, exports corresponding numerical value, and numerical value, after micro controller system process, carries out conventional weight display and job control.
More specifically, be fixed on the left of reciprocal leading screw 5 with gear support dish 6 by key and set screw, remainder is through the upper through hole of reel; Epicyclic reduction gear 2 is bolted on right end cap 3, and its mouth is coordinated by key with ball spline 13 right-hand member; Servomotor 1 is bolted on epicyclic reduction gear 2, and its output shaft is coordinated by key with epicyclic reduction gear 2 input end; The two ends of ball spline 13 are fixed on left end cap 10 and right end cap 3 respectively by bearing; Ball spline sleeve 16 is through on ball spline 13; Reel 15 is fixed in ball spline sleeve 16 by key; Fixed gear wheel 8 is bolted on left end cap 10; Planetary wheel 9 is fixed on gear supporting disk 6 by bearing and back-up ring; Guiding boat 20 is arranged in reel 15, and guiding boat engages with reciprocal leading screw 5; Multi-turn absolute value encoder 11 shell is bolted on left end cap 10, and center shaft is screwed in the left end of ball spline 13.Load transducer is fixed by screws in the bottom of winch casing 4.
Described servomotor 1 adopts internal rotor, permanent magnetism, brushless, exchange way, such as, select the 130SM-M1025 product of Hangzhou Bei Geda Autotek S. r. l..Motor positive and inverse can be realized by controller to control, thus drive the reel of wire-arranging mechanism to realize rotating to rotate, realize the wiring of steel rope and put rope action.
During use, planetary reduction gear 2 is driven to work when servomotor 1 center shaft rotates, planetary reduction gear 2 drives ball spline 13 and gear supporting disk 6 to rotate with n1 rotating speed, through planetary wheel 9(tooth number Z 2), fixed gear wheel 8(tooth number Z 1), reciprocal screw gear 7(tooth number Z 3) guiding and after slowing down, the now speed of reciprocal leading screw 5: n2=(Z2/Z3) × n1; The guiding boat engaged with reciprocal leading screw 5, while the rotation of reciprocal leading screw 5, moves band movable reel 15 at the axial reciprocating of ball spline 13 along reciprocal leading screw 5; When servo/variable-frequency motor 1 rotates, reel 15 will move back and forth along reciprocal leading screw 5, rotate around ball spline 13 simultaneously.If coiling rope on reel 15, just can realize being wound around, while arrange rope.
Setting overload value is 1.5 times of rated load.When load transducer detection load reaches overload value, motor enters permanent torsional toughness operation mode.Now motor skids under constant-torque.Namely motor can skid, but has moment of torsion to export, and can not produce rapidly.
In the present embodiment: rated load is 250kg, overload value is 1.5 times of rated load, i.e. 375kg, and when load transducer detection load reaches 375kg, motor enters permanent torsional toughness operation mode.
Motor select permanent magnetism, brushless, exchange, internal rotor servo/variable-frequency motor, principal parameter is as follows:
Reel:
(1) type of sheave groove: lebus(also known as fold line grooves, inner Bath wire casing)
(2) wirerope diameter d:3/16 " (4.76mm);
Drum grooves is apart from P=1.05 × d(wirerope diameter), calculate slot pitch P=1.05 × 3/16 × 25.4=5mm;
Reel groove depth H1=(0.25 ~ 0.4) × d, calculates H1=1.19 ~ 1.904mm, H1 value 1.5mm;
(3) spacing of reel length L(reel two end plates) L=(n+0.5) × P(n is every layer of wirerope-winding number of turns), n gets 40 circles, then L=(40+0.5) × 5=202.5mm;
(4) cylinder rope diameter ratio (D/d) value is not less than institution staff rank M8(value 25), obtain D >=25d(119mm), D value 140mm;
(5) reel baffle plate external diameter: D+2 × 35=210mm
Wiring 5 layers on reel, remaining 3 layers of prevention disorderly around time do not overflow, altogether can around 8 layers.
8 layers of hawser thickness are about 33.62mm, value 35mm;
Adjust rope long: л × D × 40 1 layer
+ л × (D+2d) × 40 2 layer
+ л × (D+4d) × 40 3 layer
+ л × (D+6d) × 40 4 layer
+ л × (D+8d) × 40 5 layer
≈17.60+18.79+19.99+21.18+22.38=99.94m
(6) material: aluminum alloy
Reciprocal leading screw
(1) overall length: 330mm,
Left end is fixed on gear supporting disk, and remainder is through through hole on reel;
(2) effective length (leading screw two ends reversing groove distance, the range of the boat that namely leads):
200mm(is about grooving distance in two ends on cylinder)
(3) external diameter: ideal value 16mm
When two-way leading screw rotates, band action-oriented boat moves reciprocatingly, and adopts self-lubricating bearing between reel and leading screw and polished rod, and the friction coefficient 0.08-0.25 of itself and steel, capping is 0.25.Reel and leading screw and polished rod mainly bear the pressure 300Kg that hawser produces.Two-way leading screw is then needed to apply the transverse force of 75Kg to guiding boat;
Maximum speed 2.1 revolutions per seconds;
Leading screw left end end bearings, right-hand member is through guiding boat and roll support.The spool motion that guiding boat drives 200mm long, reel is overall (to be about steel cable pulling force to leading screw applying 600Kg pressure and to be multiplied by 2.Because leading screw is at the mid point of reel radius)
(4) pitch: ideal value 10mm
Gear:
(1) reciprocal screw gear, fixed gear wheel, planetary wheel;
(2) profile of tooth: straight gear
(3) total transmission speed ratio: 3
Leading screw pitch 15mm/ grooving spacing 5mm=3
(4) thickness:
Driving torque: steel cable pulling force is multiplied by reel radius, i.e. 300Kg × 80mm, is about 25Kg × m
Ball spline and ball spline sleeve
Characteristic: during work, ball spline is while bearing radial moment of torsion, ball spline sleeve can move back and forth on castellated shaft.It has the good characteristic of the following aspects: excellent frictional behavior, and driving efficiency is high, positioning precision is high, transmission invertibility, long service life, net synchronization capability are good.So it is widely used in various commercial unit, precision instrument, on precise numerical control machine.Ball spline principal parameter is as follows:
Epicyclic reduction gear
Characteristic: the principal feature of Planetary Gear Transmission is that volume is little, load-carrying capacity is large, stable working.Principal parameter is as follows:
Multi-turn absolute value encoder
Characteristic: multiple circles absolute encoder determines coding by mechanical location, eachly position encodedly uniquely not to repeat, and without the need to remembering.Without the need to looking for R point, and need not count always, when needing location aware, when just can go to the position of reading it.Its advantage in length location is more obvious.Therefore, the noiseproof feature of coder, therefore the reliability of data also substantially increases.The principal parameter of multi-turn absolute value encoder is as follows:
The winch hoister of the present embodiment, with the speed rope closing of 0.4m/s, does not have load-carrying, k=1.35, according to S=k × V
2, draw now S=0.216m, namely should also have during 0.216m at distance hook and start braking.
When speed is 0.6m/s, there is no load-carrying, k value 1.58, now S=0.5688m.Namely along with the increase of speed, k value increases.
When speed is 0.6m/s, load-carrying 50kg, k value 1.62, now S=0.5832m.Namely because load-carrying increases, also can suitable adjustment System, to adjust stopping distance.All can realize as long as k value is 1.2-1.8.
Interior winding displacement winch hoister of the present invention has following advantage:
1, wire-arranging mechanism adopts internal drive, decreases the space shared by external drive equipment;
2, have employed servo/variable-frequency motor to drive, low cruise is stablized, and overload capacity is strong, and the life-span is long, and noise is low, without electromagnetic interference;
3, the commutation of reel adopts reciprocal leading screw to realize, and need not increase extra reversing arrangement, effectively reduces the quantity of parts and saves more space;
4, the multi-turn absolute value encoder real time position realized in rise and fall process is adopted to monitor and end position protection, stability and safety performance brilliance;
5, by having the load transducer of overload prevention function, gig safety and stability is under undesirably heavy loads guaranteed.
The present invention can be used as aeroengine winches and is applied on various helicopter, for completing rising and the decline of goods or personnel, in space, load-carrying capacity, safety performance etc., all can meet operating needs.
Claims (2)
1. winding displacement winch hoister in a kind, comprise servomotor (1), retarder (2) and hoisting equipment, it is characterized in that described hoisting equipment comprises winch casing (4), is located at the right end cap (3) at its two ends, left and right and left end cap (10), ball spline (13) is connected by the central robot of fixed gear wheel (8) with left end cap (10), described ball spline (13) and retarder (2) coaxial linkage; Fixed gear wheel (8) is fixedly connected with gear supporting disk (6) by planetary wheel (9), and the reciprocal screw gear (7) on gear supporting disk (6) and ball spline (13) are mechanically connected, reciprocal screw gear (7) and reciprocal leading screw (5) mechanical linkage; Ball spline (13) also connects reel (15) by ball spline sleeve (16), and reciprocal leading screw (5) is through reel (15); The two ends, left and right of described reel (15) are respectively equipped with reel right baffle-plate (14) and the right baffle plate of reel (17); Described interior winding displacement winch hoister also comprises the multi-turn absolute value encoder (12) be connected with ball spline (13).
2. interior winding displacement winch hoister according to claim 1, is characterized in that described multi-turn absolute value encoder (12) is fixed on ball spline (13) by multi-turn absolute value encoder fixed mount (11).
3. interior winding displacement winch hoister according to claim 1, is characterized in that described retarder (2) is epicyclic reduction gear (2).
4. interior winding displacement winch hoister according to claim 1, is characterized in that described interior winding displacement winch hoister also comprises the load transducer measuring described gig load-carrying.
5. interior winding displacement winch hoister according to claim 4, when it is characterized in that the actual loading that described load transducer records is greater than rated load 1.5 times, servomotor (1) enters permanent torsional toughness operation mode.
6. interior winding displacement winch hoister according to claim 1, when it is characterized in that rope closing, before the hook being wrapped in steel rope (19) end on described reel (15) arrives desired location, by S=k × V
2lead carry out drag, wherein V is hoisting speed, and unit is meter per second, and S is stopping distance, and unit is rice, and k is constant, and span is 1.2-1.8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310168007.XA CN103318787B (en) | 2013-05-06 | 2013-05-06 | Winch hoister provided with inner flat cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310168007.XA CN103318787B (en) | 2013-05-06 | 2013-05-06 | Winch hoister provided with inner flat cable |
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| CN103318787A CN103318787A (en) | 2013-09-25 |
| CN103318787B true CN103318787B (en) | 2015-05-20 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103877680B (en) * | 2014-03-03 | 2016-09-07 | 青岛亿和海丽安防科技有限公司 | Recoverable fall-slowing device for rescuing from high building |
| CN104973527A (en) * | 2014-04-01 | 2015-10-14 | 宜兴正宏机械制造有限公司 | Device enabling broken line cylinder and wire rope to synchronically work |
| CN105883654B (en) * | 2015-01-15 | 2018-05-15 | 韩成阳 | A kind of manufacturing process of insulate hoist cable device and elevator cartridge module |
| CN106115519A (en) * | 2016-08-01 | 2016-11-16 | 山东省农业机械科学研究院 | Agricultural grain lifting machine |
| CN106733875B (en) * | 2016-12-21 | 2019-05-17 | 宁波介量机器人技术有限公司 | Wall cleaning robot main structure is climbed by a kind of substation |
| CN107543739A (en) * | 2017-08-17 | 2018-01-05 | 上海大学 | A kind of intelligent acquisition water sample device for unmanned boat |
| CN108545648A (en) * | 2018-05-14 | 2018-09-18 | 安徽森能电力设备有限公司 | A kind of power engineering hoist engine |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2075946A (en) * | 1980-05-14 | 1981-11-25 | Herion Werke Kg | Winch installation for a supply cable of an underwater apparatus |
| JPH1156181A (en) * | 1997-08-25 | 1999-03-02 | Mamiya Op Co Ltd | Electric reel |
| US20020171072A1 (en) * | 2001-05-18 | 2002-11-21 | Lin Tso-Kuo | Two speed windlass |
| CN2594242Y (en) * | 2003-01-13 | 2003-12-24 | 王中航 | Hoist with automatic rope arrangement |
| CN2806416Y (en) * | 2005-07-13 | 2006-08-16 | 胡勇 | Reciprocating rope guide for winch |
| CN100515913C (en) * | 2006-01-27 | 2009-07-22 | 中国科学院沈阳自动化研究所 | Underwater cable retracting mechanism |
| CN102718166B (en) * | 2012-06-21 | 2015-01-21 | 北京豪仪测控工程有限公司 | Internal wire arrangement mechanism of hoisting elevator |
| CN203333208U (en) * | 2013-05-06 | 2013-12-11 | 北京豪仪测控工程有限公司 | Inner-flat-cable winding hoist |
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