CN113682972B - Control method for hook slipping prevention protection of cable machine lifting mechanism and cable machine - Google Patents
Control method for hook slipping prevention protection of cable machine lifting mechanism and cable machine Download PDFInfo
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- CN113682972B CN113682972B CN202111016439.XA CN202111016439A CN113682972B CN 113682972 B CN113682972 B CN 113682972B CN 202111016439 A CN202111016439 A CN 202111016439A CN 113682972 B CN113682972 B CN 113682972B
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- brake
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Classifications
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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
- B66C21/00—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways
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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
- B66C13/48—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
- B66C15/00—Safety gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
- B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
- B66D5/24—Operating devices
- B66D5/30—Operating devices electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
- B66D5/32—Detent 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
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/084—Protection measures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/03—Mechanisms with latches or braking devices in general for capstans, hoists or similar devices as well as braking devices actuated electrically or by fluid under pressure
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a control method for preventing a cable machine lifting mechanism from sliding hook and a cable machine, wherein when an operation signal stops, a first preset time is delayed, and a working brake is unconditionally put into operation for braking; when the operation signal is stopped and the speed of the lifting motor of the lifting mechanism is lower than a first preset speed value, allowing the lifting motor of the lifting mechanism to operate for a second preset time, and putting the lifting motor into a working brake and a safety brake to brake after the second preset time is finished; if the brake is not rapidly clamped after the working brake is detected to lose electricity, putting the brake into a safety brake for braking after delaying for a third preset time; if the brake is rapidly clamped after the working brake is detected to be powered off, but the speed of the lifting motor of the lifting mechanism is higher than the second preset speed, the brake is put into the safety brake for braking after the fourth preset time is delayed. The invention has the advantage of effectively preventing the hook from slipping.
Description
Technical Field
The invention relates to a cable machine, in particular to a control method for preventing a cable machine lifting mechanism from sliding hook in the field of cable crane electrical control.
Background
The cable machine is also called as a cable crane and is mainly applied to the construction of a hydropower station dam.
The safety of the operation of the cable machine is the most important problem, wherein the fault of a sliding hook of the lifting mechanism (when a motor of the lifting mechanism is stopped, a brake fails to normally band-type brake, so that a lifting hook and a heavy object dragged by the lifting mechanism fall out of control, namely the sliding hook) is always a potential safety hazard, and the problem cannot be solved, so that the safety of equipment and the engineering progress are extremely adversely affected. The common design is that the working brake is randomly constructed to be opened and closed according to an operation command, if an emergency (including a sliding hook) occurs, an operator presses an emergency stop button to stop the machine, and the working brake and the safety brake are rapidly and simultaneously closed, and the operation depends on manual reaction. The research on preventing the occurrence of the sliding hook fault and eliminating the damage caused by the fault has important significance for the application of the cable crane.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a control method for preventing a lifting mechanism of a cable machine from sliding hooks and the cable machine, and the control method ensures that the working brake and the safety brake are reliably closed when faults occur through the control of the working brake and the safety brake so as to prevent sliding hooks.
In order to achieve the above object, the present invention adopts the following scheme:
a control method for preventing a cable machine lifting mechanism from sliding hook protection comprises the following steps:
when the operation signal stops, delaying for a first preset time, and unconditionally putting into a working brake for braking;
when the operation signal is stopped and the speed of the lifting motor of the lifting mechanism is lower than a first preset speed value, allowing the lifting motor of the lifting mechanism to operate for a second preset time, and if the brake permission signal is still powered on, putting the lifting motor of the lifting mechanism into a working brake and a safety brake for braking after the second preset time is ended;
if the brake is not rapidly clamped after the working brake is detected to lose electricity, putting the brake into a safety brake for braking after delaying for a third preset time;
if the brake is rapidly clamped after the working brake is detected to be powered off, but the speed of the lifting motor of the lifting mechanism is higher than the second preset speed, the brake is put into the safety brake for braking after the fourth preset time is delayed.
Further, the first preset time T1 is 5s; the second preset time T2 is 1.2s; the third preset time T3 is 0.2s; the fourth preset time T4 is 0.1s.
Further, the first preset speed is 20% of the rated speed; the second preset speed is 10% of the rated speed.
A cable machine, comprising: the lifting mechanism and the PLC are used for controlling the lifting mechanism; the lifting mechanism comprises: the lifting motor is used for lifting cargoes, a working brake used for braking in normal use and a safety brake used for braking in emergency;
when the operation signal stops, delaying for a first preset time, and controlling the working brake to brake by the PLC;
when the operation signal is stopped and the speed of the lifting motor of the lifting mechanism is lower than a first preset speed value, allowing the lifting motor to operate for a second preset time, and controlling the working brake and the safety brake to brake by the PLC after the second preset time is ended if the brake permission signal is still electrified;
if the working brake is detected to be not clamped after the working brake is powered off, the PLC controls the safety brake to brake after a third preset time is delayed;
if the brake is clamped after the working brake is detected to be powered off, but the speed of the lifting motor of the lifting mechanism is higher than the second preset speed, the PLC controls the safety brake to brake after the fourth preset time is delayed.
Further, the first preset time is 5s; the second preset time is 1.2s; the third preset time is 0.2s; the fourth preset time is 0.1s.
Further, the first preset speed is 20% of the rated speed; the second preset speed is 10% of the rated speed.
Further, the cable machine also comprises a speed measuring encoder for measuring the speed of the lifting motor.
Further, the service brake takes the form of a dual contactor series.
Further, when the vehicle is parked normally, the brake is allowed to be braked only after the speed of the lifting motor is reduced to the preset brake rotating speed, and the brake is operated to brake.
Further, when the lifting motor is started, the lifting motor is allowed to release the brake after torque is established.
The invention has the advantages that the hook slipping can be effectively prevented, and the cable machine is safe to operate.
In emergency, the safety brake is automatically added, and even if faults exist, the safety brake can be used for rapidly replacing the working brake to ensure that slipping does not occur.
Drawings
Fig. 1 is a control flow chart of a control method for preventing a cable crane lifting mechanism from sliding hook.
Detailed Description
The invention is described in detail below with reference to the drawings and the specific embodiments.
As shown in fig. 1, a control method for preventing a cable crane lifting mechanism from sliding hook protection includes:
when the operation signal stops, delaying for a first preset time, and unconditionally putting into a working brake for braking;
when the operation signal is stopped and the speed of the lifting motor of the lifting mechanism is lower than a first preset speed value, allowing the lifting motor of the lifting mechanism to operate for a second preset time, and if the brake permission signal is still powered on, putting the lifting motor of the lifting mechanism into a working brake and a safety brake for braking after the second preset time is ended;
if the brake is not rapidly clamped after the working brake is detected to lose electricity, putting the brake into a safety brake for braking after delaying for a third preset time;
if the brake is rapidly clamped after the working brake is detected to be powered off, but the speed of the lifting motor of the lifting mechanism is higher than the second preset speed, the brake is put into the safety brake for braking after the fourth preset time is delayed.
As a preferred embodiment, the first preset time T1 is 5s; the second preset time T2 is 1.2s; the third preset time T3 is 0.2s; the fourth preset time T4 is 0.1s.
More specifically, the first preset speed is a rated speed of 20%; the second preset speed is 10% of the rated speed.
And logic 1, delaying a first preset time when the operation signal stops, and unconditionally putting into a working brake to brake. As the speed regulating device takes more than 5s in deceleration time, the first preset time takes 5s to decelerate, so that mechanical impact can not be caused, but if the device does not decelerate, mechanical impact can be caused.
The logic is a delayed unconditional forced stop, and is used as a safety guarantee to avoid unexpected hook sliding faults during stop, and the steady band-type brake of the equipment is not interfered during normal stop.
And logic 2, when the operation signal is stopped and the speed of the lifting motor of the lifting mechanism is lower than a first preset speed value, allowing the lifting motor of the lifting mechanism to operate for a second preset time, and putting the lifting motor into the working brake and the safety brake to brake after the second preset time is finished. The normal deceleration to zero takes 1s at 20% of rated speed, and the second preset time is 1.2s greater than 1s. Travel s=1/2 gt 2 =0.5x10x (1.2-1) 2=0.2m. The maximum descending speed of the lifting weight of the cable machine, namely the rated speed, is 3m/s. The first preset speed is 0.6m/s.
The logic is a protection processing program which does not send out band-type brake signals (possibly devices and communication faults) all the time after stopping and decelerating, and has accurate action and small mechanical impact.
And logic 3, if the brake is not rapidly clamped after the working brake is detected to be powered off, putting the brake into the safety brake for braking after delaying for a third preset time. The safety brake actuation time is 0.1s, and the reaction time is 0.2+0.1=0.3 s in total. Travel s=1/2 gt 2 =0.5x10x0.32=0.45m。
The logic can protect faults such as adhesion or delayed release caused by residual magnetism of the contactor, and according to the calculation, after the logic is adopted to put into a safety brake, uncontrolled displacement is small, and safety impact cannot be caused.
And logic 4, if the brake is rapidly clamped after the working brake is detected to be powered off, and the speed of the lifting motor of the lifting mechanism is greater than the second preset speed, delaying for a fourth preset time, and then putting the brake into the safety brake for braking. The time from zero speed band-type brake to 10% rated speed is 0.03s, the action time of the safety brake is 0.1s and the fourth preset time is 0.1s, and the reaction time is 0.03+0.1+0.1=0.23 s. The second preset speed is 0.3m/s. Travel s=1/2 gt 2 =0.5x10x0.232=0.26m。
The logic protection working brake has oil stain or faults caused by insufficient clamping force, and according to the calculation, after the logic is adopted to put into the safety brake, the uncontrolled displacement is small, and the safety impact cannot be caused.
The 4 logics are buckled in a ring, after the working brake fails to completely brake, the system automatically inputs the brake of the safety brake according to judgment, so that the maximum safety guarantee of the lifting mechanism is realized; meanwhile, the possible fault positions are intelligently judged, a state indication is output, the corresponding fault positions are prompted to be checked, and faults are eliminated in germination.
A cable machine, comprising: the lifting mechanism and the PLC are used for controlling the lifting mechanism; the lifting mechanism comprises: a lifting motor for lifting goods, a working brake for braking in normal use and a safety brake for braking in emergency.
When the operation signal stops, delaying for a first preset time, and controlling the working brake to brake by the PLC;
when the operation signal is stopped and the speed of the lifting motor of the lifting mechanism is lower than a first preset speed value, allowing the lifting motor to operate for a second preset time, and controlling the working brake and the safety brake to brake by the PLC after the second preset time is ended if the brake permission signal is still electrified;
if the working brake is detected to be not clamped after the working brake is powered off, the PLC controls the safety brake to brake after a third preset time is delayed;
if the brake is clamped after the working brake is detected to be powered off, but the speed of the lifting motor of the lifting mechanism is higher than the second preset speed, the PLC controls the safety brake to brake after the fourth preset time is delayed.
Specifically, the first preset time is 5s; the second preset time is 1.2s; the third preset time is 0.2s; the fourth preset time is 0.1s. The first preset speed is 20% of the rated speed; the second preset speed is 10% of the rated speed.
After the lifting mechanism receives an operation instruction of an operator, the PLC system judges whether the lifting mechanism is in a ready-to-operate state, and if so, the cable machine is started to be put into excitation. After receiving the starting signal, the armature voltage is output, the relay is electrified, the working brake is opened, and the lifting motor rotates.
If the stop signal is received, the stop signal is normally output after the stop device is decelerated to a set speed (the relay loses power, if the device detects internal and external faults, the device can normally output the stop signal to enable the relay to lose power), and the working brake loses power to the band-type brake. However, if the abnormal condition occurs, the control method of the lifting mechanism of the cable machine is used for processing and preventing the free falling of the hung weight from slipping.
The lifting motor is dragged in parallel by two speed regulating devices, and the lifting motor is provided with a working brake and braking equipment when the safety brake is stopped (the working brake is opened and closed along with each working of the lifting mechanism, the safety brake is closed in a continuous 10-minute non-working state, and the lifting motor can be rapidly put into operation in emergency).
The cable machine also comprises a speed measuring encoder for measuring the speed of the lifting motor. The lifting motor with speed measuring encoder forms a closed loop speed regulating system, and the mechanism is also provided with a position encoder for measuring the displacement of the mechanism.
The output of the speed regulating device is connected with a relay, and the intelligent brake release is realized by the internal functional connection of the speed regulating device, namely, the brake release is according to the torque principle, and the brake release is according to the rotating speed principle; that is, when the lifting motor builds torque, the brake is allowed to be released, the hook is prevented from slipping during starting, and when the vehicle is parked normally, the brake is only started when the speed of the lifting motor is reduced to the brake rotating speed set in the speed regulating device, so that the mechanical brake is prevented from being too strong, and the mechanical impact and the serious abrasion of the brake pad during parking are avoided; the two speed regulating devices are connected with the PLC through communication networks besides hard connecting wires, and transmit status signals such as voltage, current and speed.
The service brake adopts a double-contactor series connection mode. The coils of the two contactors of the working brake are connected in parallel to obtain electricity, the main contacts are connected in series, the two contactors work simultaneously in normal operation, the brake function of the working brake can be realized even if only one contactor loses electricity (only if the contactor is not released or adhered due to residual magnetism in a delayed manner at the same time), and the emergency stop button and overspeed protection can realize the simultaneous power-losing brake of the working brake and the safety brake.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be appreciated by persons skilled in the art that the above embodiments are not intended to limit the invention in any way, and that all technical solutions obtained by means of equivalent substitutions or equivalent transformations fall within the scope of the invention.
Claims (10)
1. The control method for preventing the hook slipping of the lifting mechanism of the cable machine is characterized by comprising the following steps of:
when the operation signal stops, delaying for a first preset time, and unconditionally putting into a working brake for braking;
when the operation signal is stopped and the speed of the lifting motor of the lifting mechanism is lower than a first preset speed value, allowing the lifting motor of the lifting mechanism to operate for a second preset time, and if the brake permission signal is still powered on, putting the lifting motor of the lifting mechanism into a working brake and a safety brake for braking after the second preset time is ended;
if the brake is not rapidly clamped after the working brake is detected to lose electricity, putting the brake into a safety brake for braking after delaying for a third preset time;
if the brake is rapidly clamped after the working brake is detected to be powered off, but the speed of a lifting motor of the lifting mechanism is higher than the second preset speed, the brake is put into a safety brake for braking after the fourth preset time is delayed;
after the lifting mechanism receives an operation instruction of an operator, the PLC system judges whether the lifting mechanism is in a ready state for operation, and if so, the cable machine is started to be put into excitation; after receiving the starting signal, the armature voltage is output, the relay is electrified, the working brake is opened, and the lifting motor rotates.
2. The control method for preventing hook slipping of a hoisting mechanism of a cable machine according to claim 1, wherein,
the first preset time is 5s; the second preset time is 1.2s; the third preset time is 0.2s; the fourth preset time is 0.1s.
3. The control method for preventing hook slipping of a hoisting mechanism of a cable machine according to claim 2, wherein,
the first preset speed is 20% of the rated speed; the second preset speed is 10% of the rated speed.
4. A cable machine, comprising: the lifting mechanism and the PLC are used for controlling the lifting mechanism; the lifting mechanism comprises: the lifting motor is used for lifting cargoes, a working brake used for braking in normal use and a safety brake used for braking in emergency; it is characterized in that the method comprises the steps of,
when the operation signal stops, delaying for a first preset time, and controlling the working brake to brake by the PLC;
when the operation signal is stopped and the speed of the lifting motor of the lifting mechanism is lower than a first preset speed value, allowing the lifting motor to operate for a second preset time, and controlling the working brake and the safety brake to brake after the second preset time is ended if the brake permission signal is still electrified;
if the working brake is detected to be not clamped after power failure, the PLC controls the safety brake to brake after a third preset time is delayed;
if the working brake is detected to be powered off and then clamps the band-type brake, but the speed of the lifting motor of the lifting mechanism is higher than the second preset speed, the PLC controls the safety brake to brake after delaying for a fourth preset time;
the lifting motor is dragged in parallel by two speed regulating devices and is provided with a working brake and a braking device when the safety brake is stopped.
5. The machine according to claim 4, wherein,
the first preset time is 5s; the second preset time is 1.2s; the third preset time is 0.2s; the fourth preset time is 0.1s.
6. The machine according to claim 5, wherein,
the first preset speed is 20% of the rated speed; the second preset speed is 10% of the rated speed.
7. The machine according to claim 4, wherein,
the cable machine further comprises a speed measuring encoder for measuring the speed of the lifting motor.
8. The machine according to claim 4, wherein,
the working brake adopts a double-contactor serial connection mode.
9. The machine according to claim 4, wherein,
and when the motor is stopped normally, the brake is allowed to brake after the speed of the lifting motor is reduced to a preset brake rotating speed, and the working brake brakes.
10. The machine according to claim 9, wherein,
when the lifting motor is started, the lifting motor is allowed to release the brake after torque is established.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111016439.XA CN113682972B (en) | 2020-03-06 | 2020-03-06 | Control method for hook slipping prevention protection of cable machine lifting mechanism and cable machine |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010150908.6A CN111392605B (en) | 2020-03-06 | 2020-03-06 | Control method for preventing hook slipping of hoisting mechanism of cable crane and cable crane |
| CN202111016439.XA CN113682972B (en) | 2020-03-06 | 2020-03-06 | Control method for hook slipping prevention protection of cable machine lifting mechanism and cable machine |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010150908.6A Division CN111392605B (en) | 2020-03-06 | 2020-03-06 | Control method for preventing hook slipping of hoisting mechanism of cable crane and cable crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113682972A CN113682972A (en) | 2021-11-23 |
| CN113682972B true CN113682972B (en) | 2023-09-08 |
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| CN202111016439.XA Active CN113682972B (en) | 2020-03-06 | 2020-03-06 | Control method for hook slipping prevention protection of cable machine lifting mechanism and cable machine |
| CN202010150908.6A Active CN111392605B (en) | 2020-03-06 | 2020-03-06 | Control method for preventing hook slipping of hoisting mechanism of cable crane and cable crane |
| CN202111014260.0A Active CN113682971B (en) | 2020-03-06 | 2020-03-06 | Braking method for hook slipping prevention protection of cable machine lifting mechanism and cable machine |
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| CN202010150908.6A Active CN111392605B (en) | 2020-03-06 | 2020-03-06 | Control method for preventing hook slipping of hoisting mechanism of cable crane and cable crane |
| CN202111014260.0A Active CN113682971B (en) | 2020-03-06 | 2020-03-06 | Braking method for hook slipping prevention protection of cable machine lifting mechanism and cable machine |
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| 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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- 2020-03-06 CN CN202111014260.0A patent/CN113682971B/en active Active
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| CN105217474A (en) * | 2015-10-26 | 2016-01-06 | 武汉钢铁(集团)公司 | A kind of crane in bridge type that prevents slips the intelligent monitor system of hook and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111392605B (en) | 2021-09-28 |
| CN113682972A (en) | 2021-11-23 |
| CN113682971A (en) | 2021-11-23 |
| CN111392605A (en) | 2020-07-10 |
| CN113682971B (en) | 2023-06-30 |
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