CN111606208B - Belt drive lifting device control system - Google Patents
Belt drive lifting device control system Download PDFInfo
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- CN111606208B CN111606208B CN202010426861.1A CN202010426861A CN111606208B CN 111606208 B CN111606208 B CN 111606208B CN 202010426861 A CN202010426861 A CN 202010426861A CN 111606208 B CN111606208 B CN 111606208B
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- servo motor
- direct current
- current servo
- plc
- braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
- B66C13/30—Circuits for braking, traversing, or slewing motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/50—Applications of limit circuits or of limit-switch arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
Abstract
The invention discloses a belt transmission lifting device control system which comprises a PLC and an end effector connected to a lifting mechanism through a steel wire rope, wherein a load is lapped on the end effector, and the output end of the PLC is electrically connected with a direct current servo motor of the lifting mechanism through a servo driver. This belt drive hoisting device control system chooses for use the direct current servo motor from taking the encoder, add angle sensor in the system outside simultaneously, form closed loop PID position control, constitute two closed loop control systems jointly with the inside semi-closed loop speed control of direct current servo motor, improve the precision of this device control greatly, multiple braking protection mechanism based on software and machinery combine together is provided, the security of hoisting equipment has been improved greatly, provide two accuse operational mode, greatly increased the functionality of equipment, can well satisfy different industrial production operation occasions, good economic nature has.
Description
Technical Field
The invention relates to the field of material lifting and carrying, in particular to a control system of a belt transmission lifting device.
Background
In recent years, because of the problems of low productivity, low operability and the like of the traditional material lifting and carrying device, engineers are eagerly researching and designing a new material lifting and carrying equipment system. The existing problems of the traditional material lifting and carrying equipment are very outstanding, and the aspects of accuracy, effectiveness, safety and the like of the traditional material lifting and carrying equipment need to be correspondingly upgraded. Traditional industrial robot has many-sided reasons such as operating speed beat, inertia are big at the during operation and leads to operating personnel can only be in fixed space activity, great like this has caused the accuracy, the efficiency of equipment utilization and the extravagant scheduling problem of manpower.
The mechanical equipment used for lifting and carrying materials in the industry at present has the following defects:
(1) the control system of the equipment for lifting and carrying the materials is incomplete, and the motion trail of the materials with low precision is difficult to realize precise control;
(2) the existing equipment has a more complex mechanical structure, a larger integral structure and larger occupied space;
(3) the lifting speed and the carrying speed are low, and high-efficiency production is difficult to realize;
(4) the operation of workers is extremely inconvenient, and the usability is poor;
(5) high noise exists during the operation of the equipment, so that the working environment of an operator is poor;
(6) in the operation process of the equipment, high-precision lifting and carrying are required to be realized, so that an operator needs to contact with materials, and the safety is difficult to guarantee.
Disclosure of Invention
Solves the technical problem
Aiming at the defects of the prior art, the invention provides a belt transmission lifting device control system which has the characteristics of high lifting precision, good safety, various modes and the like, can effectively improve the production efficiency and the automation level of equipment, lightens the labor intensity of operators, and solves the technical problems mentioned in the background art.
Technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a belt drive hoisting device control system, includes PLC and connects the end effector on hoist mechanism through wire rope, and the overlap joint has a load on the end effector, PLC's output passes through servo driver and is connected with hoist mechanism's direct current servo motor electricity, and last angle encoder that is used for gathering equipment running angle, the brake electromagnet who is arranged in equipment brake protection when the drive belt breaks and the travel switch who plays mechanical limiting displacement are installed to hoist mechanism, angle encoder, brake electromagnet and travel switch all are connected with the PLC electricity, last integrated singlechip display module, photoelectric sensor, weighing sensor tension sensor and the function button that is connected with the PLC electricity that have of end effector.
Further limiting, the PLC is connected with the single chip microcomputer display module through an RS serial protocol.
Further limiting, the photoelectric sensor, the weighing sensor, the pull pressure sensor and the function key are arranged on the base.
Further limiting, the electric direct current servo motor is a power-off self-locking direct current servo motor.
Further, the braking process of the control system is as follows: the system is electrified to circularly detect whether an emergency stop button on the end effector is triggered, if the emergency stop button is triggered, the whole system is powered off, and the direct current servo motor is powered off and self-locked; if the sudden stop is not triggered, after the system mode is determined, the weighing sensor firstly detects the load weight, if the load weight is detected to be overweight, the PLC controls the direct current servo motor to stop at a speed of 00, and the software brakes and the single chip microcomputer display module displays braking information; if the overload is not detected, the direct current servo motor operates, the angle encoder, the travel switch and the pause key detect brake signals at the same time, if the belt is broken and the angle encoder detects abnormity, the PLC controls the direct current servo motor to stop at a speed of 0 to realize software braking, the brake electromagnet extends out to realize mechanical braking, and brake information is displayed at the same time; if the travel switch triggers a limit signal, the PLC controls the stopping speed of the direct current servo motor to be 0 in the limit direction, software braking is achieved, braking information is displayed, meanwhile, mechanical limit work is achieved, hardware braking is achieved, and at the moment, the direct current servo motor can only move in the opposite direction; if the pause signal is detected, the PLC controls the stopping speed of the direct current servo motor to be set to 0, software braking is achieved, braking information is displayed at the same time, and the direct current servo motor continues to work after the signal is reset.
Further, the following mode workflow of the control system is as follows: after the system is powered on, if the fact that the end effector is triggered by a hand is detected, a photoelectric sensor is triggered, and the system jumps to a following mode; in the mode, the system firstly detects whether sudden stop and overweight braking are triggered, if braking is not triggered, the pull pressure sensor detects the pull pressure exerted on the end effector by hands, the running speed is adjusted according to the pull pressure, and the angle encoder detects the angle of the direct current servo motor while the direct current servo motor runs; on one hand, whether the belt is broken or not is detected, on the other hand, angle information is fed back to the PLC to form position closed-loop control, and when a mode switching signal is detected in the running process, the system is switched to an assembly mode.
Further limiting, when the control system is switched to a switching mode, the system firstly carries out emergency stop and overweight detection in the same way, a weighing sensor can provide load weight in an assembly mode, a direct-current servo motor provides tension with the same magnitude so that the load can be kept in a suspension state to meet assembly requirements under characteristic stations, when the load position needs to move, a human hand can act on the load with a tiny force, the weighing sensor detects that the numerical value is changed and then compares the numerical value with the original species to make a difference, whether the load needs to move up and down is judged through the positive and negative difference, the moving speed is in direct proportion to the magnitude of the difference, and an angle encoder carries out angle detection on the direct-current servo motor in the moving process; on one hand, whether the belt is broken is detected, and on the other hand, angle information is fed back to the PLC to form position closed-loop control; when a mode switching signal or a photoelectric signal is detected during operation, the system switches to a following mode.
Compared with the prior art, the invention has the following beneficial effects: this belt drive hoisting device control system chooses for use the direct current servo motor from taking the encoder, adds angle sensor in the system outside simultaneously, forms closed loop PID position control, constitutes two closed-loop control systems jointly with the inside semi-closed loop speed control of direct current servo motor, improves the precision of this device control greatly.
The invention provides a multiple braking protection mechanism based on the combination of software and machinery, and the safety of the lifting equipment is greatly improved.
The invention provides a double-control operation mode, greatly increases the functionality of the equipment, can well meet different industrial production operation occasions, and has good economy.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a flow chart of the brake protection of the present invention;
FIG. 3 is a control flow diagram of the follow mode of the present invention;
fig. 4 is a flow chart of the assembly mode control of the present invention.
In the figure: the device comprises a load 1, an end effector 2, a direct current servo motor 3, a lifting mechanism 4, a brake electromagnet 5, an angle encoder 6, a travel switch 7, a servo driver 8, a PLC9, a singlechip display module 10, a photoelectric sensor 11, a weighing sensor 12, a tension and pressure sensor 13 and a function key 14.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: a belt drive lifting device control system comprises a PLC9 and an end effector 2 connected to a lifting mechanism 4 through a steel wire rope, a load 1 is lapped on the end effector 2, the output end of the PLC9 is electrically connected with a direct current servo motor 3 of the lifting mechanism 4 through a servo driver 8, an angle encoder 6 used for collecting the operation angle of equipment is installed on the lifting mechanism 4, a brake electromagnet 5 used for brake protection when a transmission belt in the equipment is broken and a travel switch 7 playing a mechanical limiting role, the angle encoder 6, the brake electromagnet 5 and the travel switch 7 are both electrically connected with the PLC9, a singlechip display module 10 electrically connected with the PLC9 is integrated on the end effector 2, a photoelectric sensor 11, a weighing sensor 12, a tension sensor and a function key 14, the function key 14 is used for realizing man-machine interaction, specifically comprises equipment operation information display and provides the function key, the photoelectric sensor 11 is used for detecting whether a human hand touches the end effector 2, the pull pressure sensor 13 is used for detecting the force applied by the human hand on the end effector 13, and the weighing sensor 12 is used for detecting the change of the load weight.
The PLC9 is connected with the single chip microcomputer display module 10 through an RS485 serial protocol.
A photoelectric sensor 11, a weighing sensor 12, a pull pressure sensor 13 and a function key 14.
The electric DC servo motor 3 is a power-off self-locking DC servo motor 3.
Referring to fig. 2, the braking process of the control system is as follows: the system power-on cycle detects whether an emergency stop button on the end effector 2 is triggered, if the emergency stop button is triggered, the whole system is powered off, and the direct current servo motor 3 is powered off and self-locked; if the sudden stop is not triggered, after the system mode is determined, the weighing sensor 12 firstly detects the weight of the load 1, if the weight is detected, the PLC9 controls the direct current servo motor 3 to stop rotating at a speed of 0, and the single chip microcomputer display module 10 displays braking information while the software brakes; if the overload is not detected, the direct current servo motor 3 operates, the angle encoder 6, the travel switch 7 and the pause key detect brake signals at the same time, if the belt is broken and the angle encoder 6 detects abnormity, the PLC9 controls the direct current servo motor 3 to stop at the speed of 0 to realize software braking, the brake electromagnet 5 extends out to realize mechanical braking, and brake information is displayed at the same time; if the limit switch 7 triggers a limit signal, the PLC9 controls the stall speed of the DC servo motor 3 to be 0 in the limit direction, so that software braking is realized, braking information is displayed, meanwhile, mechanical limit work is performed, hardware braking is realized, and at the moment, the DC servo motor 3 can only move in the opposite direction; if the pause signal is detected, the PLC9 controls the stalling speed of the direct current servo motor 3 to be set to 0, software braking is achieved, braking information is displayed at the same time, and the direct current servo motor 3 continues to work after the signal is reset.
Referring to fig. 3, the following mode of the control system has the following working flow: after the system is powered on, if the fact that the end effector 2 is triggered by a human hand is detected, the photoelectric sensor 11 is triggered, and the system jumps to a following mode; in the mode, the system firstly detects whether sudden stop and overweight braking are triggered, if braking is not triggered, the pull pressure sensor 13 detects the pull pressure exerted on the end effector 2 by a human hand, the running speed is adjusted according to the pull pressure, and the angle encoder 6 detects the angle of the direct current servo motor 3 while the direct current servo motor 3 runs; on one hand, whether the belt is broken or not is detected, on the other hand, the angle information is fed back to the PLC9 to form position closed loop control, and when a mode switching signal is detected during operation, the system is switched to an assembly mode.
Referring to fig. 4, when the control system is switched to a switching mode, the system also performs emergency stop and overweight detection, the weighing sensor 12 provides the weight of the load 1 in the assembly mode, the direct current servo motor 3 provides the same pulling force to enable the load 1 to keep a suspension state so as to meet the assembly requirement under a characteristic station, when the position of the load 1 needs to move, a small force can be acted on the load 1 by a human hand, the weighing sensor 12 detects the change of a numerical value and compares the numerical value with the original species, whether the load 1 needs to move up and down is judged by positive and negative difference values, the moving speed is in direct proportion to the size of the difference value, and the angle encoder 6 performs angle detection on the direct current servo motor 3 in the moving process; on one hand, whether the belt is broken is detected, and on the other hand, the angle information is fed back to the PLC9 to form position closed-loop control; when a mode switching signal or a photoelectric signal is detected during operation, the system switches to a following mode.
This belt drive hoisting device control system chooses for use the direct current servo motor from taking the encoder, adds angle sensor in the system outside simultaneously, forms closed loop PID position control, constitutes two closed-loop control systems jointly with the inside semi-closed loop speed control of direct current servo motor, improves the precision of this device control greatly.
The invention provides a multiple braking protection mechanism based on the combination of software and machinery, and the safety of the lifting equipment is greatly improved.
The invention provides a double-control operation mode, greatly increases the functionality of the equipment, can well meet different industrial production operation occasions, and has good economy.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a belt drive hoisting device control system, includes PLC (9) and connects end effector (2) on hoist mechanism (4) through wire rope, the overlap joint has load (1), its characterized in that on end effector (2): the output end of the PLC (9) is electrically connected with a direct current servo motor (3) of a lifting mechanism (4) through a servo driver (8), an angle encoder (6) used for acquiring the running angle of equipment, a brake electromagnet (5) used for brake protection when a transmission belt in the equipment is broken and a travel switch (7) playing a mechanical limiting role are installed on the lifting mechanism (4), the angle encoder (6), the brake electromagnet (5) and the travel switch (7) are all electrically connected with the PLC (9), and a single chip microcomputer display module (10), a photoelectric sensor (11), a weighing sensor (12), a tension sensor and a function key (14) which are electrically connected with the PLC (9) are integrated on the end effector (2);
the braking process of the control system comprises the following steps: the system is electrified to circularly detect whether an emergency stop button on the end effector (2) is triggered, if the emergency stop button is triggered, the whole system is powered off, and the direct current servo motor (3) is powered off and self-locked; if the sudden stop is not triggered, after the system mode is determined, the weighing sensor (12) firstly detects the weight of the load (1), if the weight is detected, the PLC (9) controls the direct current servo motor (3) to stop at a speed of 0, and the single chip microcomputer display module (10) displays braking information while the software brakes; if the overload is not detected, the direct current servo motor (3) operates, the angle encoder (6), the travel switch (7) and the pause key detect brake signals at the same time, if the belt is broken and the angle encoder (6) detects abnormity, the PLC (9) controls the stop speed of the direct current servo motor (3) to be 0 to realize software braking, the brake electromagnet (5) extends out to realize mechanical braking, and brake information is displayed at the same time; if the travel switch (7) triggers a limit signal, the PLC (9) controls the stopping speed of the direct current servo motor (3) to be 0 in the limit direction, software braking is achieved, braking information is displayed, meanwhile, mechanical limit work is achieved, hardware braking is achieved, and at the moment, the direct current servo motor (3) can only move in the opposite direction; if the pause signal is detected, the PLC (9) controls the stopping speed of the direct current servo motor (3) to be set to 0, software braking is achieved, braking information is displayed at the same time, and the direct current servo motor (3) continues to work after the signal is reset.
2. The belt driven hoist control system of claim 1, wherein: and the PLC (9) is connected with the single chip microcomputer display module (10) through an RS485 serial protocol.
3. A belt driven hoist control system as claimed in claim 2, wherein: the photoelectric sensor (11), the weighing sensor (12), the pull pressure sensor (13) and the function key (14).
4. A belt driven hoist control system as claimed in claim 3, wherein: the direct current servo motor (3) is a power-off self-locking direct current servo motor (3).
5. A belt driven hoist control system as claimed in claim 4, characterized by the following mode workflow of the control system being: after the system is powered on, if the fact that the end effector (2) is triggered by a hand is detected, the photoelectric sensor (11) is triggered, and the system jumps to a following mode; in the mode, the system firstly detects whether sudden stop and overweight braking are triggered, if braking is not triggered, a pull pressure sensor (13) detects the pull pressure exerted on an end effector (2) by a human hand, the running speed is adjusted according to the pull pressure, and an angle encoder (6) detects the angle of a direct current servo motor (3) while the direct current servo motor (3) runs; on one hand, whether the belt is broken or not is detected, on the other hand, angle information is fed back to the PLC (9) to form position closed-loop control, and when a mode switching signal is detected in the running process, the system is switched to an assembly mode.
6. A belt driven hoist control system as claimed in claim 5, when the control system is switched to a transfer mode, the system firstly carries out emergency stop and overweight detection in the same way, the weighing sensor (12) can provide the weight of the load (1) in the assembly mode, the direct current servo motor (3) provides the same pulling force to ensure that the load (1) can keep a suspension state to meet the assembly requirement under the characteristic station, when the position of the load (1) needs to be moved, a human hand can act on the load (1) with a tiny force, the weighing sensor (12) detects the change of the numerical value and then compares the change with the original species to make a difference, whether the load (1) moves up and down is judged according to the positive and negative difference values, the moving speed is in direct proportion to the difference value, and the angle encoder (6) performs angle detection on the direct-current servo motor (3) in the moving process; on one hand, whether the belt is broken is detected, and on the other hand, angle information is fed back to the PLC (9) to form position closed-loop control; when a mode switching signal or a photoelectric signal is detected during operation, the system switches to a following mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010426861.1A CN111606208B (en) | 2020-05-19 | 2020-05-19 | Belt drive lifting device control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010426861.1A CN111606208B (en) | 2020-05-19 | 2020-05-19 | Belt drive lifting device control system |
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| Publication Number | Publication Date |
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| CN111606208A CN111606208A (en) | 2020-09-01 |
| CN111606208B true CN111606208B (en) | 2022-06-10 |
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| CN202010426861.1A Active CN111606208B (en) | 2020-05-19 | 2020-05-19 | Belt drive lifting device control system |
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| CN113816272B (en) * | 2021-09-17 | 2023-11-03 | 安徽安久模架科技有限公司 | Electric hoist with automatic control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105947911A (en) * | 2016-06-01 | 2016-09-21 | 石娟 | Intelligent lifting system |
| CN106371388A (en) * | 2016-08-27 | 2017-02-01 | 杭州新永丰钢业有限公司 | Continuous galvanized steel plate anti-strip-breaking detection device |
| CN109927057B (en) * | 2019-04-02 | 2020-12-29 | 合肥工业大学 | Intelligent power-assisted manipulator control system |
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