CN111348575B - Falling detection and protection device and method for gear-rack transmission lifting mechanism - Google Patents
Falling detection and protection device and method for gear-rack transmission lifting mechanism Download PDFInfo
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- CN111348575B CN111348575B CN201811579219.6A CN201811579219A CN111348575B CN 111348575 B CN111348575 B CN 111348575B CN 201811579219 A CN201811579219 A CN 201811579219A CN 111348575 B CN111348575 B CN 111348575B
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- terminal
- rack
- motor
- coaxial
- encoder
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000009659 non-destructive testing Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/02—Devices, e.g. jacks, adapted for uninterrupted lifting of loads with racks actuated by pinions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/44—Devices, e.g. jacks, adapted for uninterrupted lifting of loads with self-contained electric driving motors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects
Abstract
The invention relates to a falling detection and protection device and method of a gear-rack transmission lifting mechanism, wherein the device comprises a motor component, a gear component, a terminal encoder, a lifting rack, a terminal encoding rack, a pneumatic band-type brake, a turntable, a motor coaxial band-type brake and a servo system; the method comprises the following steps: step 1, connecting a motor coaxial encoder signal to a servo system driver feedback interface, connecting a terminal encoder signal to a driver auxiliary feedback interface, and setting E e The method comprises the steps of carrying out a first treatment on the surface of the Step 2, driving a motor to operate by a servo system, and driving a turntable to linearly move along the direction of a rack through gear transmission; step 3, detecting real-time running position P of motor by using signal of coaxial encoder of motor Coaxial arrangement The terminal encoder signals detect the actual movement distance P of the gear on the rack Terminal . The method for acquiring the actual position of the terminal based on the independent gear rack can accurately detect whether the gear rack transmission mechanism breaks teeth during operation.
Description
Technical Field
The invention belongs to the field of nondestructive detection, and particularly relates to a falling detection and protection device and method of a gear rack transmission lifting mechanism.
Background
The gear rack lifting mechanism is applied to nondestructive testing equipment of a nuclear reactor pressure vessel, so that the safety requirement on the equipment in the use process is very high.
The problems of unavoidable transportation and lifting in the use and maintenance processes of the detection equipment, fatigue of gears after long-time use and the like exist, so that the situation of broken teeth and falling in the long-time movement process can occur. In nuclear nondestructive testing, many objects to be tested are not replaceable or are extremely expensive throughout the life of the nuclear power plant, and therefore, there is a high requirement for the safety of the testing equipment.
Disclosure of Invention
The invention aims at: the method for detecting and protecting the broken tooth falling condition of the large-sized gear rack lifting mechanism in the moving process can greatly improve the application safety of large-sized structural equipment.
The technical scheme of the invention is as follows: the falling detection and protection device of the gear-rack transmission lifting mechanism comprises a motor assembly, a gear assembly, a terminal encoder, a lifting rack, a terminal encoding rack, a pneumatic band-type brake, a turntable, a motor coaxial band-type brake and a servo system;
the motor assembly, the gear assembly, the pneumatic band-type brake and the motor coaxial band-type brake are arranged at the top of the turntable; the terminal coding rack and the lifting rack are arranged on the upright post in parallel; the terminal encoder is arranged on the turntable, and an output shaft of the terminal encoder is meshed with teeth of the terminal encoding rack by adopting a pinion to realize position detection;
the gear assembly is an intermediate transmission part of the motor assembly and the lifting rack and is used for converting the rotary motion of the motor into linear motion of the turntable in the axis direction of the upright post;
the motor assembly comprises a motor and a coaxial encoder arranged at the tail part of the motor;
the motor coaxial band-type brake is coaxially arranged at the output shaft end of the motor assembly and used for providing braking force when the motor assembly is not enabled so as to keep the position of the turntable in the vertical direction;
when the motor component and the motor coaxial band-type brake can not provide braking force and the turntable falls under gravity, the pneumatic band-type brake is pressed on the axial guide rail of the upright post through the pressure of compressed air so as to slow down the falling speed.
The servo system comprises a driver and a controller; the driver is used for collecting signals of the coaxial encoder and the terminal encoder of the motor assembly and controlling actions of the motor assembly, the pneumatic band-type brake and the coaxial band-type brake of the motor through the I/O port; and the controller is used for receiving the information collected by the driver, analyzing and comparing the information to make a control decision and transmitting the control decision to the driver.
Further, the terminal encoder is arranged at the bottom of the turntable.
Further, the position output value of the coaxial encoder on the motor assembly is defined as P Coaxial arrangement The position output value of the terminal encoder is P Terminal The absolute value of the difference between the two encoders is E p = | P Coaxial arrangement -P Terminal I, gear lash error maximum is E e 。
Further, under normal operation conditions, the position output value P of the coaxial encoder Coaxial arrangement And a terminal encoder position output value P Terminal Error E of (2) p Not exceeding E e 。
Further, if part of the teeth of the gear or rack are broken due to fatigue or impact during operation, the teeth cannot be meshed, and the turntable falls down, at this time, the coaxial encoder value P of the motor assembly Coaxial arrangement Will be much smaller than the actual travel of the turntable.
Furthermore, the terminal encoder detects the position through the terminal encoding rack, and the output value of the terminal encoder is the actual stroke of the turntable.
Further, if the encoder error absolute value E p Is far greater than the maximum value E of gear clearance error e And the occurrence of tooth breakage of the gear rack is indicated.
Further, once the servo system detects that the turntable falls, the pneumatic band-type brake is immediately controlled to act to slow down the falling speed of the turntable.
Further, when the falling speed detected by the terminal encoder is lower than the braking safety value of the coaxial band-type brake, the coaxial band-type brake of the motor is started, and the whole braking of the turntable is realized.
The invention relates to a falling detection and protection method of a gear rack transmission lifting mechanism, which is characterized by comprising the following steps of:
step 1, connecting a motor coaxial encoder signal to a servo system driver feedback interface, connecting a terminal encoder signal to a driver auxiliary feedback interface, and setting E e ；
Step 2, driving a motor to operate by a servo system, and driving a turntable to linearly move along the direction of a rack through gear transmission;
step 3, detecting real-time running position P of motor by using signal of coaxial encoder of motor Coaxial arrangement The terminal encoder signals detect the actual movement distance P of the gear on the rack Terminal ；
Step 4, the driver transmits the acquired information to the controller, and the controller detects whether E is the same in real time p ＞E e ；
Step 5, once E is detected p ＞E e The controller sends out an instruction, the driver opens the pneumatic band-type brake to compress the upright post guide rail, and the falling speed of the turntable is reduced;
step 6, the controller detects P in real time Terminal Whether to reduce to meet the requirement of starting coaxial braking;
step 7, the controller detects P Terminal The requirement of starting the coaxial brake is met, the control sends out an instruction, the driver starts the coaxial band-type brake, and the brake is applied to the turntable through the transmission structure.
The invention has the remarkable effects that:
(1) The method for acquiring the actual position of the terminal based on the independent gear rack can accurately detect whether the gear rack transmission mechanism is broken or not during operation;
(2) The two-stage braking mode after tooth breakage adopted by the invention can avoid the secondary damage risk during direct braking, so as to realize stable and reliable safe braking on equipment, and greatly improve the safety performance of the equipment under abnormal operation conditions.
Drawings
FIG. 1 is a schematic view of a fall detection and protection device for a rack and pinion lift mechanism according to the present invention;
FIG. 2 is a schematic flow chart of a method for detecting and protecting a fall of a rack and pinion lifting mechanism according to the present invention;
in the figure: 1. the hydraulic brake system comprises an upright post, a motor assembly, a gear assembly, a terminal encoder, a lifting rack, a terminal encoding rack, a pneumatic brake, a turntable and a motor coaxial brake.
Description of the embodiments
The falling detection and protection device and method of the rack and pinion drive lifting mechanism of the present invention are described in further detail below with reference to the accompanying drawings and specific embodiments.
As shown in FIG. 1, the falling detection and protection device of the gear-rack transmission lifting mechanism comprises a motor component 2, a gear component 3, a terminal encoder 4, a lifting rack 5, a terminal encoding rack 6, a pneumatic band-type brake 7, a turntable 8, a motor coaxial band-type brake 9 and a servo system;
wherein, the motor component 2, the gear component 3, the pneumatic band-type brake 7 and the motor coaxial band-type brake 9 are arranged at the top of the turntable 8; the terminal coding rack 6 and the lifting rack 5 are arranged on the upright post 1 in parallel; the terminal encoder 4 is arranged on the turntable 8, and an output shaft of the terminal encoder is meshed with teeth of the terminal encoding rack 6 by adopting a pinion to realize position detection;
the gear assembly 3 is an intermediate transmission part of the motor assembly 2 and the lifting rack 5 and is used for converting the rotary motion of the motor into linear motion of the turntable 8 in the axis direction of the upright post 1;
the motor component 2 comprises a motor and a coaxial encoder arranged at the tail part of the motor;
the motor coaxial band-type brake 9 is coaxially arranged at the output shaft end of the motor assembly 2 and is used for providing braking force when the motor assembly 2 is not enabled so as to keep the position of the turntable 8 in the vertical direction;
the pneumatic band-type brake 7 compresses the pressure of compressed air on the axial guide rail of the upright post 1 to slow down the descending speed when the motor component 2 and the motor coaxial band-type brake 9 can not provide braking force and the turntable 8 falls under gravity.
The servo system comprises a driver and a controller; the driver is used for collecting signals of the coaxial encoder and the terminal encoder 4 of the motor assembly 2 and controlling actions of the motor assembly 2, the pneumatic band-type brake 7 and the motor coaxial band-type brake 9 through the I/O port; and the controller is used for receiving the information collected by the driver, analyzing and comparing the information to make a control decision and transmitting the control decision to the driver.
Further, the terminal encoder 4 is installed at the bottom of the turntable 8.
Further, define the output value of the coaxial encoder position on the motor assembly 2 as P Coaxial arrangement The position output value of the terminal encoder 4 is P Terminal The absolute value of the difference between the two encoders is E p = | P Coaxial arrangement -P Terminal I, gear lash error maximum is E e 。
Further, under normal operation conditions, the position output value P of the coaxial encoder Coaxial arrangement And a terminal encoder position output value P Terminal Error E of (2) p Not exceeding E e 。
Further, if during operation part of the teeth of the gear or rack are broken due to fatigue or impact, the teeth are not engaged, and the turntable 8 is dropped, the coaxial encoder value P of the motor assembly 2 Coaxial arrangement Will be much smaller than the actual travel of the turntable 8.
Further, the terminal encoder 4 detects the position through the terminal encoding rack 6, and the output value thereof is the actual stroke of the turntable 8.
Further, if the encoder error absolute value E p Is far greater than the maximum value E of gear clearance error e And the occurrence of tooth breakage of the gear rack is indicated.
Further, once the servo system detects that the turntable 8 falls, the pneumatic band-type brake 7 is immediately controlled to act to slow down the falling speed of the turntable 8.
Further, when the falling speed detected by the terminal encoder 4 is lower than the braking safety value of the coaxial band-type brake, the motor coaxial band-type brake 9 is started, and the whole braking of the turntable 8 is realized.
As shown in fig. 2, a method for detecting and protecting a fall of a rack and pinion lifting mechanism is characterized by comprising the following steps:
step 1, connecting a motor coaxial encoder signal to a servo system driver feedback interface, connecting a terminal encoder signal to a driver auxiliary feedback interface, and setting E e ；
Step 2, driving a motor to operate by a servo system, and driving a turntable to linearly move along the direction of a rack through gear transmission;
step 3, detecting real-time running position P of motor by using signal of coaxial encoder of motor Coaxial arrangement The terminal encoder signals detect the actual movement distance P of the gear on the rack Terminal ；
Step 4, the driver transmits the acquired information to the controller, and the controller detects whether E is the same in real time p ＞E e ；
Step 5, once E is detected p ＞E e The controller sends out an instruction, the driver opens the pneumatic band-type brake to compress the upright post guide rail, and the falling speed of the turntable is reduced;
step 6, the controller detects P in real time Terminal Whether to reduce to meet the requirement of starting coaxial braking;
step 7, the controller detects P Terminal The requirement of starting the coaxial brake is met, the control sends out an instruction, the driver starts the coaxial band-type brake, and the brake is applied to the turntable through the transmission structure.
Claims (6)
1. The utility model provides a gear rack transmission hoist mechanism's detection of falling and protection device which characterized in that: the automatic control device comprises a motor assembly (2), a gear assembly (3), a terminal encoder (4), a lifting rack (5), a terminal encoding rack (6), a pneumatic band-type brake (7), a turntable (8), a motor coaxial band-type brake (9) and a servo system;
the motor assembly (2), the gear assembly (3), the pneumatic band-type brake (7) and the motor coaxial band-type brake (9) are arranged at the top of the turntable (8); the terminal coding rack (6) and the lifting rack (5) are arranged on the upright post (1) in parallel; the terminal encoder (4) is arranged on the rotary table (8), and an output shaft of the terminal encoder is meshed with teeth of the terminal encoding rack (6) by adopting a pinion to realize position detection;
the gear assembly (3) is an intermediate transmission part of the motor assembly (2) and the lifting rack (5) and is used for converting the rotary motion of the motor into the linear motion of the turntable (8) in the axial direction of the upright post (1);
the motor assembly (2) comprises a motor and a coaxial encoder arranged at the tail part of the motor;
the motor coaxial band-type brake (9) is coaxially arranged at the output shaft end of the motor assembly (2) and used for providing braking force when the motor assembly (2) is not enabled so as to keep the position of the turntable (8) in the vertical direction;
when the motor component (2) and the motor coaxial band-type brake (9) can not provide braking force and the turntable (8) falls under gravity, the pneumatic band-type brake (7) is pressed on the axial guide rail of the upright post (1) through the pressure of compressed air so as to slow down the falling speed;
the servo system comprises a driver and a controller; the driver is used for collecting signals of the coaxial encoder and the terminal encoder (4) of the motor assembly (2) and controlling actions of the motor assembly (2), the pneumatic band-type brake (7) and the motor coaxial band-type brake (9) through the I/O port; the controller is used for receiving the information collected by the driver, analyzing and comparing the information to make a control decision and transmitting the control decision to the driver;
defining the position output value of the coaxial encoder on the motor assembly (2) as P Coaxial arrangement The position output value of the terminal encoder (4) is P Terminal The absolute value of the difference between the two encoders is E p = | P Coaxial arrangement -P Terminal I, gear lash error maximum is E e ；
If part of the teeth of the gear or rack are broken due to fatigue or impact during operationCausing the teeth to fail to mesh and thus causing the rotary disk (8) to fall, at which time the coaxial encoder value P of the motor assembly (2) Coaxial arrangement Will be much smaller than the actual travel of the turntable (8);
if the absolute value of encoder error E p Is far greater than the maximum value E of gear clearance error e Indicating that the gear rack is broken;
the terminal encoder (4) is arranged at the bottom of the turntable (8).
2. The fall detection and protection device for a rack and pinion lift mechanism of claim 1, wherein: under normal operation condition, the position output value P of the coaxial encoder Coaxial arrangement And a terminal encoder position output value P Terminal Error E of (2) p Not exceeding E e 。
3. The fall detection and protection device for a rack and pinion lift mechanism of claim 1, wherein: the terminal encoder (4) detects the position through the terminal encoding rack (6), and the output value is the actual stroke of the turntable (8).
4. The fall detection and protection device for a rack and pinion lift mechanism of claim 1, wherein: once the servo system detects that the turntable (8) falls, the pneumatic band-type brake (7) is immediately controlled to act to slow down the falling speed of the turntable (8).
5. The fall detection and protection device for a rack and pinion lift mechanism of claim 4, wherein: when the falling speed detected by the terminal encoder (4) is lower than the braking safety value of the coaxial band-type brake, the coaxial band-type brake (9) of the motor is started, and the whole braking of the turntable (8) is realized.
6. A method for fall detection and protection of a rack and pinion lift mechanism, using the apparatus of claim 1, comprising the steps of:
step 1, connecting a motor coaxial encoder signal to a servo system driver feedback interface, connecting a terminal encoder signal to a driver auxiliary feedback interface, and setting E e ；
Step 2, driving a motor to operate by a servo system, and driving a turntable to linearly move along the direction of a rack through gear transmission;
step 3, detecting real-time running position P of motor by using signal of coaxial encoder of motor Coaxial arrangement The terminal encoder signals detect the actual movement distance P of the gear on the rack Terminal ；
Step 4, the driver transmits the acquired information to the controller, and the controller detects whether E is the same in real time p ＞E e ；
Step 5, once E is detected p ＞E e The controller sends out an instruction, the driver opens the pneumatic band-type brake to compress the upright post guide rail, and the falling speed of the turntable is reduced;
step 6, the controller detects P in real time Terminal Whether to reduce to meet the requirement of starting coaxial braking;
step 7, the controller detects P Terminal The requirement of starting the coaxial brake is met, the control sends out an instruction, the driver starts the coaxial band-type brake, and the brake is applied to the turntable through the transmission structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811579219.6A CN111348575B (en) | 2018-12-24 | 2018-12-24 | Falling detection and protection device and method for gear-rack transmission lifting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811579219.6A CN111348575B (en) | 2018-12-24 | 2018-12-24 | Falling detection and protection device and method for gear-rack transmission lifting mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN111348575A CN111348575A (en) | 2020-06-30 |
| CN111348575B true CN111348575B (en) | 2024-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811579219.6A Active CN111348575B (en) | 2018-12-24 | 2018-12-24 | Falling detection and protection device and method for gear-rack transmission lifting mechanism |
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