CN105129656B - A kind of hoisting machinery braking method and hoisting machinery brake apparatus - Google Patents
A kind of hoisting machinery braking method and hoisting machinery brake apparatus Download PDFInfo
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- CN105129656B CN105129656B CN201410249994.0A CN201410249994A CN105129656B CN 105129656 B CN105129656 B CN 105129656B CN 201410249994 A CN201410249994 A CN 201410249994A CN 105129656 B CN105129656 B CN 105129656B
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Abstract
The invention discloses a kind of hoisting machinery braking method and hoisting machinery brake apparatus, and for detecting braking effect in the course of the work and can prevent hoisting machinery from slipping hook, wherein method comprises the following steps：Obtain variable quantity of the machine shaft after braking starts；Perform one or many following judgements：If variable quantity is more than the variable quantity threshold value pre-set, controlled motor output makes the torque that load instantaneous is hovered, and then obtains the variable quantity of current motor rotating shaft again, otherwise end of braking；After default number is reached, if variable quantity is more than the variable quantity threshold value pre-set, controlled motor output makes the torque that load is hovered, otherwise end of braking；After being more than preset time threshold between when braking, when the variable quantity is less than the variable quantity threshold value, end of braking.By multiple deterministic process, brake signal and the nonsynchronous problem of braking maneuver as caused by mechanical engagement or electric fault can be excluded, it is not easy to judge by accident.
Description
Technical field
The present invention relates to neck hoisting machinery field, in particular it relates to a kind of hoisting machinery braking method and use this method
Hoisting machinery brake apparatus.
Background technology
Crane is a kind of common plant equipment, extensively using in multiple industries, such as building, producing, transport, with generation
Carried for artificial, there is operating efficiency height, while have the advantages of safe concurrently, so as to solid to promote socio-economic development to establish
Basis.But in the running of crane, due to the mechanical breakdown or electric fault of brake, usually occur and slip hook
Phenomenon, i.e. brake can not brake in time, it is thus possible to cause the physical damage of lifting, or even human safety issues.
Some existing anti-slip hook equipment, it is in some additional auxiliary equipments of brake side, when occurring slipping hook accident
Protected.But such method, job costs not only are significantly increased, and the stability of anti-slip hook can not be ensured and had
Effect property.
For the problem, Chinese patent literature CN103663225A discloses a kind of guard method of misfunctioning of brake, protected
Protection unit, protection system and crane, including：
Obtain raising action Setting signal and raising action run signal；
When not getting the raising action Setting signal but getting the raising action run signal, raising is exported
Action protection signal；
According to the raising action protection signal, start lifting motor and acted according to the gear of setting.
When not getting the raising action Setting signal but getting the raising action run signal, also output is reported
Alert control signal；
Start alarm according to the alarm control signal to be alarmed.
In the misfunctioning of brake guard method of the patent document, by detect raising act run signal and raising act to
Determine whether signal synchronously determines whether brake fails, this method has following defect：
It is set in advance by performing after misfunctioning of brake is judged in the misfunctioning of brake guard method of the patent document
Multigroup rise and fall gear controls the lifting of hoisting machinery, when loading the easily fall-out body such as brick and tile, is easy for causing to rock
And then the danger dropped, practicality be not strong.
In the misfunctioning of brake guard method of the patent document, raising action signal and raising Setting signal time are being received
The reason for not reciprocity, has a lot, the brake signal and braking maneuver is nonsynchronous asks as caused by electric fault, mechanical engagement problem
Topic, can all be determined as misfunctioning of brake when there is the above situation using existing brake decision method, influence hoisting machinery
Normal work.
In the misfunctioning of brake guard method of the patent document, the operation dependent on staff in operation passes through
Test, for hoisting machinery operation age relatively low people, its learning cost is very high, if there is operating mistake, then may make
Into serious consequence.
The content of the invention
Hoisting machinery to be solved by this invention after being misfunctioning of brake present in existing hoisting machinery braking method
Security can not ensure, to brake, whether fail-ure criterion is not accurate enough and rely on manually-operated technical problem, and then
Provide it is a kind of can ensure the security of hoisting machinery after misfunctioning of brake, to brake, whether fail-ure criterion is accurate and base
This hoisting machinery braking method for judging and operating without artificial experience and the hoisting machinery system for realizing the braking method
Dynamic device.
To achieve these goals, the present invention provides a kind of hoisting machinery braking method, comprises the following steps：
Obtain variable quantity of the machine shaft after braking starts；
Perform one or many following judgements：If variable quantity is more than the variable quantity threshold value pre-set, controlled motor
Output makes the torque that load instantaneous is hovered, and then obtains the variable quantity of current motor rotating shaft again, otherwise end of braking；
After default number is reached, if variable quantity is more than the variable quantity threshold value pre-set, controlled motor output
Make the torque of load hovering, otherwise end of braking；
The variable quantity of the current motor rotating shaft once makes load instantaneous hover position before being is zero point, calculates present bit
Put and variable quantity of the distance of dead-center position as the current motor rotating shaft.
The variable quantity is electric machine main shaft or the angle variable quantity of its driven shaft.
The angle variable quantity is variation in angular displacement amount or angular speed variable quantity.
Perform 2-3 above-mentioned judgement.
The process for the torque that the processing unit controlled motor output makes load hover, including：The processing unit according to
The direction of motion of the machine shaft before braking, controlled motor reversion make load hover to export the torque of opposite direction.
The process of variable quantity of the acquisition machine shaft after braking starts, including：
Using the position for sending the machine shaft detected after arrester close order as zero point, current location and zero point are calculated
The distance of position is as the variable quantity braked after starting.
Brake unit, braking is performed after receiving brake command,
Detection unit, obtain variable quantity of the machine shaft after braking starts；
Control unit, including：
Circulate subelement：Perform one or many following judgements：If variable quantity is more than the variable quantity threshold value pre-set,
Then controlled motor output makes the torque that load instantaneous is hovered, and then obtains the variable quantity of machine shaft again, otherwise end of braking；
Hovering output subelement：After default number is reached, if variable quantity is more than the variable quantity threshold value pre-set,
The output of processing unit controlled motor makes the torque that load is hovered, otherwise end of braking；
End of braking subelement：After being more than preset time threshold between when braking, the variable quantity is less than the variable quantity threshold
During value, end of braking.
Described control unit is frequency converter or servo-driver, and the acquiring unit is encoder.
The encoder associates setting with electric machine main shaft or its driven shaft, to detect the angle position of electric machine main shaft or its driven shaft
Shifting or angular speed.
In the circulation subelement, above-mentioned deterministic process twice is performed.
The above-mentioned technical proposal of the present invention has advantages below compared with prior art：
(1) hoisting machinery braking method of the invention, by performing one or many following judgements：If variable quantity is more than pre-
The variable quantity threshold value first set, then controlled motor output make the torque that load instantaneous is hovered, then obtain current motor again
The variable quantity of rotating shaft, otherwise end of braking；When one-shot change amount exceedes variable quantity threshold value, it is believed that be probably due to mechanical engagement
Or misfunctioning of brake caused by electric fault, therefore export instantaneous torque load instantaneous is hovered, after obtain machine shaft again
Variable quantity, when again above variable quantity threshold value, then it is assumed that caused by being misfunctioning of brake, therefore brake signal can be excluded
The problem of in turn resulting in erroneous judgement asynchronous with braking maneuver, so as to provide a kind of judgement accurately braking method.
(2) hoisting machinery braking method of the invention, brake are judged as braking after one or many judgements are performed
Device fails, and braking method of the invention meeting controlled motor output makes the instantaneous torque of load hovering or keeps persistently turning for hovering
Square, therefore can ensure that when misfunctioning of brake hoisting machinery will not slip hook accident, while staff can be
Select controlled motor to put load to ground during hovering, or hover to load and brake is investigated, not only ensure that peace
Quan Xing, while facilitate the further maintenance of staff.
(3) hoisting machinery braking method of the invention, its automatically controlled after judging whether fail, fail load hover with
And, if misfunctioning of brake, it can ensure without manual operation without artificial interference during the processing of signal automatic feedback
The security of heavy-duty machine structure, it is set to have more practicality, compared to the judgement side for relying on staff's working experience in the prior art
Formula, also reduce the requirement to staff.
(4) hoisting machinery brake apparatus of the invention, the conventional control of frequency converter or servo-driver as hoisting machinery
The advantages of device, selecting it not increase extra cost as control unit, and accommodation space and cost can be saved.
(5) hoisting machinery brake apparatus of the invention, its in the case where motor stalls, control unit be determined as automatically into
Enter on-position, it is achieved that under any circumstance, monitoring in real time and protection being carried out to jack machinism on-position, enters one
Step adds the security and practicality of this method.
(6) hoisting machinery brake apparatus of the invention, accumulation of the electric machine main shaft after braking starts is detected using encoder
Angular displacement simultaneously sets decision threshold, makes decision method simple, directly perceived, compared to the method for common measuring and calculating braking air line distance
With the advantages of precision is higher, error is small.
Brief description of the drawings
In order that present disclosure is more likely to be clearly understood, below in conjunction with the accompanying drawings, the present invention is made further detailed
Thin explanation, wherein,
Fig. 1 is the principle schematic of hoisting machinery braking method in the embodiment of the present invention 1；
Fig. 2 is the principle schematic of hoisting machinery brake apparatus in the embodiment of the present invention 2.
Description of reference numerals：
1- control units；2- detection units；3- brake units；4- motors；11- circulates subelement；12- end of braking is single
Member；13- hovering output subelements.
Embodiment
Below with reference to accompanying drawing, the hoisting machinery braking method of the present invention is described in detail.
Embodiment 1：
As shown in figure 1, hoisting machinery braking method, for detecting and preventing hoisting machinery from slipping hook, a kind of crane
Tool braking method, comprises the following steps：
Variable quantity of the machine shaft after braking starts is obtained, the variable quantity after braking starts refers to that in brake be in band-type brake
After state is acted on machine shaft, the variable quantity of machine shaft, variable quantity described as follows includes：Variation in angular displacement amount or
Angular speed variable quantity, if during certain time accumulates, the value of angular displacement or angular speed is more than according to actual hoisting machinery
The threshold value of own load situation setting, illustrate that brake does not play good braking effect in this process.
Perform one or many following judgements：If variable quantity is more than the variable quantity threshold value pre-set, controlled motor
Output makes the torque that load instantaneous is hovered, and then obtains the variable quantity of current motor rotating shaft again, otherwise end of braking.Perform one
Secondary judgement is in the deterministic process of first time, and the variable quantity of machine shaft is not above threshold value, therefore can determine that now
Brake is effective, therefore deterministic process is so far.And perform and repeatedly judge it is that brake is judged as in judging in first time
Failure, and it is corresponding, and machine shaft can export the torque for making load instantaneous hover, and the torque is following control units according to negative
The instantaneous torque that loading capacity exports automatically, next time after load instantaneous is hovered, load can under gravity after
Reforwarding is moved, therefore can be by gathering the variable quantity of machine shaft again, to judge whether brake loses in this deterministic process
Effect.This makes it possible to avoid due to brake signal caused by electric fault or mechanical engagement problem and braking maneuver is asynchronous asks
Topic, to exclude erroneous judgement.
It is to be appreciated that judge number can manually set, be not limited in it is above-mentioned twice, sentence in each
Motor can all export the instantaneous torque for allowing and loading and hovering during disconnected, and output, which allows load, after last time judges keeps hovering
Torque, should be skilled artisans appreciate that, and after default number is reached, if variable quantity is more than what is pre-set
The variable quantity threshold value, then controlled motor output make the torque that load is hovered, otherwise end of braking.
When obtaining variable quantity every time, a time threshold can be pre-set, after the time threshold is reached, current position
It is then the variable quantity of this acquisition to put with the distance of dead-center position.After being more than preset time threshold between when braking, the change
When amount is less than the variable quantity threshold value, illustrates brake effectively and machine shaft can be held tightly without relatively rotating, therefore
End of braking.
Preferably, 2-3 above-mentioned judgement is performed.
In the present embodiment described further below, the selection of parameter in deterministic process：
Further, the position that the variable quantity of the current motor rotating shaft once makes load instantaneous hover before being is zero point, meter
Calculate variable quantity of the distance of current location and dead-center position as the current motor rotating shaft.
Further, the variable quantity is that electric machine main shaft or the angle variable quantity of its driven shaft, encoder can be examined accurately
Angle variable quantity is measured, and the rotating shaft of motor or its driven shaft easily keep being relatively fixed, do not sent out with encoder in the course of the work
Life is rocked, therefore judges method that whether brake fails compared to brake dropping distance by determining in the prior art,
It is more accurate by way of determining machine shaft angle variable quantity described in the present embodiment.
In addition, the angle variable quantity is variation in angular displacement amount or angular speed variable quantity, the variable quantity of angular speed equally can
On-position is characterized, therefore can be applied to be compared with angular speed threshold value in the present embodiment, and then judges that brake is
No failure.
It is to be appreciated that the determination methods provided in the present embodiment are not limited to determine the variable quantity of machine shaft,
Braking dropping distance is such as determined by sensor, scribble on steel cable scale and measure angular acceleration mode determine being capable of table
Levy on-position parameter, the mode that those skilled in the art can easily implement should all belong to protection scope of the present invention it
It is interior.
Specifically, the direction of motion of the processing unit according to machine shaft before braking, controlled motor are inverted to export
The torque of opposite direction, makes load hover.
The process of variable quantity of the acquisition machine shaft after braking starts, including：
Using the position for sending the machine shaft detected after arrester close order as zero point, current location and zero point are calculated
The distance of position is as the variable quantity braked after starting.
Embodiment 2：
The example of a scheme of concrete application embodiment 1 is given below.This programme mainly implements rising in Frequency Converter Control
Weight system, and any external equipment need not be added, necessary condition is that motor side has dress photoelectric encoder.Implement step
For：
1. real-time guard program is immediately entered on tackling system after electricity.
2. when normal raising or decentralization weight stop, Frequency Converter Control decelerating through motor, which is shut down, reaches one than relatively low frequency
Rate is run, and now sends arrester close order, the code device signal point position zero point received with now frequency converter.
3. if failure, weight can still fall brake after arrester close, now frequency converter can pass through
The feedback signal that photoelectric encoder is fallen, after this signal accumulation crosses certain limit value, frequency converter output torque (can be set
It is fixed) go to hinder weight-drop, but in order to prevent that first time motor output torque is only due to malfunction caused by mechanical engagement error
It it is moment, it is permanent to keep.
4. if code device signal still can be detected after first time output torque, same value range is arrived in accumulation
Afterwards, frequency converter exports an instantaneous torque (can set) again, also serves as malfunctioning systems stabilisation state.
5. and still monitor that encoder acts after second torque exports, and this signal accumulation is to same scope
It is worth, then frequency converter judges that brake has failed, and slips hook phenomenon and has occurred and that, then frequency converter will continue output vector zero-speed power
Square, the speed that weight declines is reduced to zero, and weight can be made to be parked in the air, wait staff's maintenance.
The program in the present embodiment, hook is slipped by detecting judgement three times, by Multiple detection, is prevented due to mechanical engagement
Malfunction caused by error, it can avoid slipping the generation of hook phenomenon completely, hook accident is slipped in reduction, protects building site worker's life and wealth
Production safety.In the case that this method can accomplish that brake is entirely ineffective, zero servo defencive function only is used, can not surpassed
In the case of load, carry out normal raising and decline weight, do not slip hook.
Embodiment 3：
As shown in Fig. 2 a kind of hoisting machinery brake apparatus for realizing above-mentioned hoisting machinery braking method, including：
Brake unit 3, braking is performed after receiving brake command,
Detection unit 2, obtain variable quantity of the machine shaft after braking starts；
Control unit 1, including：
Circulate subelement 11：Perform one or many following judgements：If variable quantity is more than the variable quantity threshold pre-set
Value, then controlled motor output make the torque that load instantaneous is hovered, then obtain the variable quantity of machine shaft again, otherwise braking knot
Beam；
Hovering output subelement 13：After default number is reached, if variable quantity is more than the variable quantity threshold pre-set
Value, the output of processing unit controlled motor make the torque that load is hovered, otherwise end of braking；
End of braking subelement 12：After being more than preset time threshold between when braking, the variable quantity is less than the variable quantity
During threshold value, end of braking.
Wherein described end of braking refers to think that brake is effective, and retrosequence terminates, and does not perform action.
The course of work of above-mentioned hoisting machinery brake apparatus is：Brake unit 3 performs braking after brake command is received,
And the variable quantity after starting is being braked to obtain machine shaft by detection unit 2, detection unit 2 is anti-by the variable quantity detected
Control unit of feeding 1；And then if circulation subelement 11 performs one or many following judgement variable quantities and is somebody's turn to do more than what is pre-set
Variable quantity threshold value, then hovering output subelement 13 controlled motor output make the torque that load instantaneous is hovered, then obtain electricity again
The variable quantity of machine rotating shaft, otherwise end of braking；When reaching preset times and change value is more than variable quantity threshold value, control unit
1 controlled motor will load and keep hovering；After being more than preset time threshold between when braking, the variable quantity is less than the variable quantity threshold
It is worth, then control unit 1 judges end of braking, then it is assumed that brake is effective, and EP (end of program) does not perform action.
Preferably, described control unit 1 is frequency converter or servo-driver, and the acquiring unit 2 is encoder, frequency converter
Or servo-driver is the control device commonly used in hoisting machinery, this have the advantage that, do not increasing cost and increase accounts for
In the case of with space, the function of brake apparatus in the present embodiment can be completely realized；Encoder then can be determined accurately
Angular displacement and the value of angular speed, while it can keep being relatively fixed with machine shaft or its driven shaft, compared in embodiment 1
Other described mensuration modes and measure parameter, have the advantages of measured value is more accurate.
Further, the encoder associates setting with electric machine main shaft or its driven shaft, to detect electric machine main shaft or its is driven
The angular displacement of axle or angular speed.
Finally, it is preferable to perform above-mentioned deterministic process twice in the circulation subelement 11, sentencing for subelement is circulated twice
Disconnected process, brake signal caused by can effectively avoiding mechanical engagement or electric fault and the nonsynchronous problem of braking maneuver, enter
And the judgement for whether failing to brake is more accurate, avoid influenceing normal work due to erroneous judgement.
Obviously, above-described embodiment is only intended to clearly illustrate example, not to the restriction of embodiment.For
For those of ordinary skill in the art, other various forms of changes or change can also be made on the basis of the above description
It is dynamic.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change or change thus extended out
Among moving still in the protection domain of the invention.
Claims (11)
1. a kind of hoisting machinery braking method, it is characterised in that comprise the following steps：
Obtain variable quantity of the machine shaft after braking starts；
Perform one or many following judgements：If variable quantity is more than the variable quantity threshold value pre-set, controlled motor output
The torque for making load instantaneous hover, the variable quantity of current motor rotating shaft is then obtained again, otherwise end of braking；
After default number is reached, if variable quantity is more than the variable quantity threshold value pre-set, controlled motor output makes to bear
The torque of hovering is carried, otherwise end of braking.
A kind of 2. hoisting machinery braking method according to claim 1, it is characterised in that：The change of the current motor rotating shaft
Change amount is：The position for once making load instantaneous hover in the past is zero point, calculates the distance of current location and dead-center position as institute
State the variable quantity of current motor rotating shaft.
3. hoisting machinery braking method according to claim 2, it is characterised in that：The variable quantity be electric machine main shaft or its
The angle variable quantity of driven shaft.
4. hoisting machinery braking method according to claim 3, the angle variable quantity is variation in angular displacement amount or angular speed
Variable quantity.
5. the hoisting machinery braking method according to any one of Claims 1-4, it is characterised in that：Perform 2-3 times and above-mentioned sentence
It is disconnected.
6. the hoisting machinery braking method according to any one of Claims 1-4, it is characterised in that：The controlled motor is defeated
The process for the torque that load of sening as an envoy to is hovered, including：According to the direction of motion of the machine shaft before braking, controlled motor is inverted with defeated
Go out the torque of opposite direction, load is hovered.
A kind of 7. hoisting machinery braking method according to any one of Claims 1-4, it is characterised in that：It is described to obtain electricity
The process of variable quantity of the machine rotating shaft after braking starts, including：
Using the position for sending the machine shaft detected after arrester close order as zero point, current location and dead-center position are calculated
Distance as it is described braking start after variable quantity.
8. a kind of hoisting machinery brake apparatus for realizing the hoisting machinery braking method described in any one of claim 1 to 7, it is special
Sign is：
Brake unit, braking is performed after receiving brake command,
Detection unit, obtain variable quantity of the machine shaft after braking starts；
Control unit, including：
Circulate subelement：Perform one or many following judgements：If variable quantity is more than the variable quantity threshold value pre-set, control
Motor output processed makes the torque that load instantaneous is hovered, and then obtains the variable quantity of current motor rotating shaft again, otherwise end of braking；
Hovering output subelement：After default number is reached, if variable quantity is more than the variable quantity threshold value pre-set, control
Motor output processed makes the torque that load is hovered, otherwise end of braking.
9. hoisting machinery brake apparatus according to claim 8, it is characterised in that described control unit is frequency converter or watched
Driver is taken, the detection unit is encoder.
10. hoisting machinery brake apparatus according to claim 9, it is characterised in that：The encoder and electric machine main shaft or
The association of its driven shaft is set, to detect the angular displacement of electric machine main shaft or its driven shaft or angular speed.
11. hoisting machinery brake apparatus according to claim 10, it is characterised in that：In the circulation subelement, perform
Above-mentioned deterministic process twice.
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| CN201410249994.0A CN105129656B (en) | 2014-06-06 | 2014-06-06 | A kind of hoisting machinery braking method and hoisting machinery brake apparatus |
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|---|---|---|---|
| CN201410249994.0A CN105129656B (en) | 2014-06-06 | 2014-06-06 | A kind of hoisting machinery braking method and hoisting machinery brake apparatus |
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| CN105129656A CN105129656A (en) | 2015-12-09 |
| CN105129656B true CN105129656B (en) | 2017-12-12 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108706481B (en) * | 2018-06-15 | 2020-12-15 | 廊坊中建机械有限公司 | Suspension hook hovering control method and device and frequency converter |
| CN112570467A (en) * | 2019-09-27 | 2021-03-30 | 上海宝信软件股份有限公司 | Anti-slip control method and system suitable for vertical loop |
| CN111039132A (en) * | 2019-12-25 | 2020-04-21 | 徐州中矿大传动与自动化有限公司 | Method and device for safe parking control of lifting system |
| CN113501425B (en) * | 2021-08-10 | 2022-11-22 | 上海共久电气有限公司 | Method for realizing rapid detection and protection of crane hook |
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| JPH08143281A (en) * | 1994-11-24 | 1996-06-04 | Meidensha Corp | Hoist-up control method of hoist device |
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