CN114244189A

CN114244189A - Mechanism and method for controlling multi-motor synchronous operation of ultra-long suspension chain

Info

Publication number: CN114244189A
Application number: CN202111606426.8A
Authority: CN
Inventors: 杨晶晶; 张勇山
Original assignee: Changchun Sanling Technology Co ltd
Current assignee: Changchun Sanling Technology Co ltd
Priority date: 2021-12-26
Filing date: 2021-12-26
Publication date: 2022-03-25

Abstract

The invention provides a multi-motor synchronous operation control mechanism and a control method for an ultra-long suspension chain, wherein the multi-motor synchronous operation control mechanism for the ultra-long suspension chain comprises a plurality of driving stations for driving the ultra-long suspension chain and a tensioning mechanism matched with the driving stations, the tensioning mechanism comprises a telescopic joint for connecting a straight rail and a bent rail, the straight rail and the bent rail are connected in a sliding manner through the telescopic joint, an electronic ruler is arranged between the straight rail and the bent rail, and the electronic ruler is in communication connection with a control system; the driving station is in communication connection with the control system through a frequency converter, and is positioned on the front side of the tensioning mechanism in the advancing direction; according to the invention, the electronic ruler is arranged between the straight rail and the curved rail, and the electronic ruler and the driving stations are limited to be connected with the control system, so that the length of the suspension chain between two adjacent motors can be grasped in real time, the electric system protection is carried out, a plurality of sets of driving stations are matched with tensioning mechanisms to cooperatively drive the same suspension chain, the length and the torque are synchronously interpolated and controlled, and the damage of a mechanical structure can be prevented.

Description

Mechanism and method for controlling multi-motor synchronous operation of ultra-long suspension chain

Technical Field

The invention belongs to the technical field of multi-motor synchronous control, and particularly relates to a mechanism and a method for controlling multi-motor synchronous operation of an ultra-long suspension chain.

Background

The existing multi-motor driving system for the ultra-long suspension chain comprises a driving station and a tensioning mechanism, wherein the mechanical tensioning mechanism only plays a role of directly straightening the chain in a corresponding section, the motor cannot accurately control the walking distance and the stroke of each section of chain, so that when the tensioning stroke position of a certain part exceeds an unreasonable operation range of the chain, the tensioning stroke position cannot be fed back to the system in time, the system cannot feed back compensation in time, and the tensioning is controlled to return to a reasonable operation position, namely the system loses eyes and brain bags, only heart (motor) is singly driven, when the tensioning reaches an extreme position, a limit switch gives an alarm, the whole ultra-long suspension chain stops operating, and the position of the chain needs to be adjusted and recovered manually. This condition can be reasonably controlled in a conventional shorter length chain run system. However, in the operation process of the overlong chain, because the motors are more and the tension is more, the problems can frequently and frequently occur, so that the safe operation efficiency of the chain is greatly reduced, and the normal production is seriously influenced.

Disclosure of Invention

In order to solve the technical problems, the invention provides a mechanism and a method for controlling synchronous operation of multiple motors of an ultra-long suspension chain.

The specific technical scheme of the invention is as follows:

the multi-motor synchronous operation control mechanism for the overlong suspension chain comprises a plurality of driving stations for driving the overlong suspension chain and a tensioning mechanism matched with the driving stations, wherein the tensioning mechanism comprises a telescopic joint for connecting a straight rail and a bent rail, the straight rail and the bent rail are connected in a sliding manner through the telescopic joint, an electronic ruler is arranged between the straight rail and the bent rail, and the electronic ruler is in communication connection with a control system; the driving station is in communication connection with the control system through a frequency converter, and is positioned on the front side of the tensioning mechanism in the advancing direction.

Preferably, the tensioning mechanism further comprises a fixing frame arranged on the straight rail, one end of the fixing frame is connected with the straight rail, the other end of the fixing frame extends towards the bent rail, a pulley is arranged at one end, exceeding the bent rail, of the fixing frame, a pull rope is arranged on the bent rail, a counterweight is connected to the portion, passing through a wire casing of the pulley, of the pull rope, the electronic ruler is arranged at one end, connected with the straight rail, of the fixing frame, and the extension end of the pull rod of the electronic ruler is connected with one end, far away from the straight rail, of the bent rail.

Preferably, the driving station comprises a motor, a speed reducer, a rotating shaft, a driving chain wheel, a connecting shaft, a driven chain wheel and a driving chain, the motor is connected with the rotating shaft through the speed reducer, the driving chain wheel is fixed on the rotating shaft, the driven chain wheel corresponding to the driving chain wheel is arranged on the connecting shaft, the driving chain wheel and the driven chain wheel are provided with driving chains, and the driving chains are meshed with the overlong hanging chains.

The invention also provides a control method based on the control mechanism, which comprises the following steps:

s1, the control system receives tension displacement data sent by the electronic ruler;

s2, the control system sends an instruction to the driving station according to the tension displacement data;

the S3 drive station adjusts the drive to the lengthy suspension chain according to the received command.

Preferably, the step of sending the command to the driving station by the S2 control system according to the tension displacement data specifically includes the following steps:

s21, judging whether the tension displacement data sent by the electronic ruler is inwards contracted or outwards extended, if the tension displacement data are inwards contracted, performing the step S22, and if the tension displacement data are outwards extended, performing the step S23;

s22, judging whether the inward shrinkage value L exceeds an inward threshold value L1, if so, sending a command of increasing the rotating speed to the driving station, and if not, not processing;

s23 judges if the outward elongation value l exceeds the outward threshold value l1, if so, it sends a command to the driving station to reduce the rotation speed, if not, it does not process.

Preferably, the control method further includes the steps of:

and the S4 control system receives and calculates the summation S of the tensioning displacement data fed back by all the electronic rulers, and sends an alarm signal and the tensioning displacement data fed back by all the electronic rulers to the display screen when the summation S of the tensioning displacement data fed back by all the electronic rulers exceeds the summation threshold S1.

Preferably, threshold S1 is equal to or greater than half the link pitch.

Preferably, the control method further includes the steps of:

the S5 control system receives the dynamic monitoring or output of the frequency converter motor operation parameters, and calculates the motor torque value, judges whether the motor torque value exceeds the safety value, if any motor torque value exceeds the safety value, then sends the stop operation instruction to all motors, and sends the motor torque value to the display screen.

Preferably, when the torque values of all the motors do not exceed the safety value, the step S6 is performed;

s6 judges whether the torque value of each motor exceeds the normal range value, if the torque value of all the motors exceeds the normal range value, the motor is sent to the display screen to prompt the overload, if the torque value of any one or more motors exceeds the maximum limit set value, the motor is sent to the prompt instruction of the stop line maintenance, and the torque value of all the motors is sent to the display screen, if the torque value of all the motors does not exceed the normal range value, the processing is not carried out.

The invention has the following beneficial effects: the invention can realize real-time grasping of the length of the suspension chain between two adjacent motors by arranging the electronic ruler between the straight rail and the curved rail and limiting the connection of the electronic ruler and the driving station with the control system, carry out electric system protection by accurately controlling the operation parameters of the motors, cooperate with a tensioning mechanism by a plurality of sets of driving stations to cooperatively drive the same suspension chain, synchronously interpolate and operate and control the length and the torque of each other, prevent the damage of a mechanical structure, judge whether the running resistance of the chain is increased by controlling the torque value of the motor fed back by an interface, early warn and take preventive maintenance and repair, judge whether the total length of the chain is lengthened by the total expansion difference value data of the chain fed back by the electronic ruler, if the total length change value of the chain exceeds a certain number, reduce the number of chain links in advance by a maintainer so as to enable the total length of the chain to be in a reasonable interval, the system is more stable and reliable in operation, and in the chain operation process, if the total load mounted on the lifting hook or the lifting appliance exceeds the designed load, the total load can be reflected through the operation parameters of the controller interface, and a user is prompted to reasonably mount the total load on the chain, so that the safe production operation is ensured.

Drawings

FIG. 1 is a plan layout diagram of one floor and two floors of a control mechanism for the synchronous operation of multiple motors with ultra-long suspension chains in the embodiment;

FIG. 2 is a three-layer floor plan of the control mechanism for the multi-motor synchronous operation of the ultra-long suspension chain in the embodiment;

FIG. 3 is a block diagram of the control mechanism for the synchronous operation of multiple motors with an ultra-long suspension chain in the embodiment;

FIG. 4 is an embodiment of a display screen interface for operating a home page;

FIG. 5 is an embodiment of a manual control page display screen interface;

FIG. 6 is a schematic structural view of the tensioning mechanism;

FIG. 7 is an enlarged view at 1;

FIG. 8 is a flowchart of a control method in the embodiment;

FIG. 9 is a flowchart of a control method in the embodiment;

FIG. 10 is a flowchart of a control method in the embodiment;

fig. 11 is a flowchart of a control method in the embodiment.

The device comprises a driving station 1, a straight rail 2, a curved rail 3, a telescopic joint 4, an electronic ruler 5, a controller 6, a frequency converter 7, a fixing frame 8, a pulley 9, a pull rope 10, a counterweight 11, a mounting plate 12, a rotating shaft 13, a driving chain wheel 14, a connecting shaft 15, a driven chain wheel 16 and a driving chain 17.

The dimensions of the various figures are exaggerated or minimized for ease of viewing.

Detailed Description

The present invention will be described in further detail with reference to the following examples and drawings.

The embodiment provides a multi-motor synchronous operation control mechanism of an ultra-long suspension chain, as shown in fig. 1-2, the multi-motor synchronous operation control mechanism of the ultra-long suspension chain comprises 4 driving stations 1 for driving the ultra-long suspension chain and 4 tensioning mechanisms matched with the driving stations 1, as shown in fig. 1-2, 1-4 groups, each group comprises a driving station and a tensioning mechanism, and can be applied to a layer of track or a plurality of layers of tracks according to specific production requirements in practical application, as shown in fig. 1 and 2, in some scenes, the ultra-long suspension chain is applied to three layers of tracks, as shown in fig. 1, a layer of track and a layer of two layers of tracks are shown in fig. 2, a layer of track is shown by a dotted line and is positioned between an upper piece point and a lower piece point, the arrow direction in the figure is the operation direction of the suspension chain, the suspension chain travels unidirectionally and cannot travel reversely, and during operation, the hanger is hung on a suspension chain and ascends to a second-layer track from an upper workpiece point through a lifter, the second-layer track runs and ascends to a third-layer track through a climbing track, the third-layer track uses 4 driving stations and 4 tensioning mechanisms, the length of the suspension chain in the embodiment is greater than 1km, the length of the suspension chain between two adjacent motors is 180-220m, and during specific application, adjustment can be performed according to the actual construction arrangement by combining with site conditions, each tensioning mechanism comprises an expansion joint 4 for connecting a straight rail 2 and a bent rail 3, the straight rail 2 and the bent rail 3 are in sliding connection through the expansion joint 4, an electronic ruler 5 is arranged between the straight rail 2 and the bent rail 3, and as shown in fig. 3, the electronic ruler 5 is in communication connection with a control system 6; the driving station 1 is in communication connection with the control system 6 through a frequency converter 7, and in the traveling direction, the driving station 1 is located on the front side of the tensioning mechanism. Preferably, the control mechanism further includes a display screen, the display screen is used for displaying data received by the controller, the control system includes a controller, a display screen driving module, a power module and a communication module, the display screen driving module drives the display screen to display, the power module is used for supplying power to other electronic components, the communication module is used for receiving tension displacement data fed back by the electronic ruler and sending instructions to the driving station, such as an operation homepage display screen interface shown in fig. 4 and a manual control page display screen interface shown in fig. 5, and the following pages are partially illustrated here: the 'operation ready' is an equipment running state indicator light, which is normally green, the fault is red, the operation automatic chain is in a green state when being started, the light color 'manual' is a manual state indicator light, the gray color is in a non-manual state, the green color is in a manual state, the dark color 'manual' is a manual mode touch key, the enable keeping is green, the enable keeping is off, the gray color is driving enable, the normal state is kept green, the special adjustment is gray, the chain starting 'is a chain starting soft key window in the automatic mode, the long pressing of the chain starting' is performed for 3 seconds until the automatic state indicator light 'automatic' is turned on, the suspension chain is started to run automatically, the 'start' indicator light is changed from gray to green, the suspension chain is indicated to run automatically, and the driving states of a plurality of motors are displayed in the driving and motor states, The operation limit, the rotation speed, the current, the torque and the like are controlled, the tensioning automatic control display measurement feedback, the total tensioning deformation, the real-time deviation, the tensioning upper limit and the like are displayed, the alarm, the network diagnosis, the emergency stop state, the user management and the like are also displayed on the page, the embodiment is only used as an example, and the adjustment can be carried out according to a specific application scene during the actual operation.

In this embodiment, no specific limitation is made on the tensioning mechanism, the driving station is used for driving the ultra-long suspension chain, the number of the driving stations is determined according to the length of the ultra-long suspension chain, the curved rail is preferably a U-shaped rail, the specific structure of the telescopic joint is not limited, as long as the straight rail and the curved rail can be connected to be in sliding connection, such as the telescopic joint of model QTX200SS sold by the manufacturer of huge transport machinery in suzhou, the electronic ruler is named as a linear displacement sensor and is used for converting the linear mechanical displacement into an electrical signal, such as the electronic ruler of model LWF-V1 sold by the manufacturer QTX200SS, the embodiment does not specifically limit the model of the controller (PLC), any controller capable of receiving the signal of the electronic ruler and sending a command to the motor can be used as the controller of this embodiment, such as the controller of model G120 sold by the manufacturer of siemens (china) limited company, the frequency converter is also a conventional commercially available frequency converter, such as the 6SL5244-03312-1FA0 model frequency converter sold by Siemens (China) Limited; the overlong hanging chain refers to a hanging chain with the length of more than 1000 m; the distance between the tensioning mechanism and the driving station is arranged in a minimum way, but for the convenience of maintenance, the distance between the tensioning mechanism and the driving station can be kept between 1m-2m, an observation rail can be additionally arranged between the tensioning mechanism and the driving station according to actual requirements, the maintenance, oiling, chain length adjustment and the like are facilitated, the invention can realize the real-time control of the length of a suspension chain between two adjacent motors by arranging an electronic ruler between a straight rail and a bent rail and limiting the electronic ruler and the driving station to be connected with a control system, and the PLC controls the motors at corresponding positions through programs to output motor operation parameters so that the tensioning part of the tensioning mechanism is kept at the proper position for protecting an electrical system and preventing the mechanical structure from being damaged and can also control the operation torque fed back through a control interface, judge whether the chain running resistance increases, in order to advance the early warning and take preventive maintenance and maintenance, can also be through the total flexible difference data of chain of electronic ruler feedback, judge whether the total length of chain becomes long, if the total length of chain variation value exceeds a certain quantity, maintainer can reduce chain link quantity in advance, so that the total length of chain is in reasonable interval, make the system operation more reliable and more stable, and in the chain operation process, if the total load of carry on lifting hook or hoist exceeds the design load, also can react out through the operation parameter at controller interface, the total load on the reasonable carry chain of suggestion user, in order to ensure the operation of safe production.

In some embodiments, as shown in fig. 6, the tensioning mechanism further includes a fixing frame 8 disposed on the straight rail 2, one end of the fixing frame 8 is connected to the straight rail 2, and the other end of the fixing frame 8 extends toward the curved rail 3, a pulley 9 is disposed at an end of the fixing frame 8 beyond the curved rail 3, a pull rope 10 is disposed on the curved rail 3, a counterweight 11 is connected to the pull rope 10 after the pull rope 10 passes through a wire slot of the pulley 9, the electronic ruler 5 is disposed at an end of the fixing frame 8 connected to the straight rail 2, and an extension end of the pull rod of the electronic ruler 5 is connected to an end of the curved rail 3 away from the straight rail 2.

Wherein, the embodiment does not limit the specific structure of the fixing frame, as long as the structure capable of realizing the function of the fixing frame of the embodiment can be used as the fixing frame of the embodiment, such as the fixing frame shown in fig. 6, the connection mode of the fixing frame on the straight rail includes but is not limited to fixed connection, such as welding, the connection mode of the telescopic joint with the straight rail and the straight section part of the curved rail includes but is not limited to sliding friction type connection, the straight section part rail of the curved rail is sleeved inside the straight rail of the fixing frame to do linear sliding type friction motion, the pulley is fixedly connected with the fixing frame, one end of the pull rope is connected with the curved rail, the connection mode can be as shown in fig. 6, a T-shaped rod is arranged on the curved rail, a protrusion with a through hole is arranged on the T-shaped rod, the pull rope is passed through the through hole and tied on the protrusion to realize stable connection, the connection mode of the counterweight and the pull rope in the embodiment is not limited specifically, if the lifting bucket is connected, the pulling force on the curved rail can be adjusted by increasing or decreasing the weight of the counterweight in the lifting bucket when in use, and the weight of the counterweight can be manually adjusted according to a specific use scene; the embodiment specifically defines the specific structure of the tensioning mechanism, in the working process, the suspension chain runs in a track consisting of a straight track, an expansion joint and a curved track, the curved track is pulled outwards by the counterweight, the length of the suspension chain between the two motors is influenced by the rotating speeds of the two motors, if the length of the suspension chain between the two motors is shortened, the suspension chain pulls the counterweight inwards, the direction of the counterweight is opposite to the stretching direction of the counterweight, the tensioning displacement data monitored by the expansion joint is sent to a display screen connected with a control system in real time, a worker can monitor the working state of the suspension chain in real time, when the two adjacent motors run relatively synchronously, the curved track slides in a certain range relative to the straight track, and the expansion joint expands and contracts in a certain range, when the range is exceeded, an alarm is sent, at the moment, all the motors can be controlled to stop running, and the equipment is overhauled to avoid larger loss, when the suspension chain between the two motors is too loose (the electronic ruler pull rod is too long) or too tight (the electronic ruler pull rod is too short), the suspension chain can also be adjusted by adjusting the rotating speed of the corresponding motor, and the adjustment is automatic adjustment.

In some embodiments, as shown in fig. 7, the driving station 1 includes a motor, a reducer, a rotating shaft 13, a driving sprocket 14, a connecting shaft 15, a driven sprocket 16 and a driving chain 17, the motor 12 is connected with the rotating shaft 13 through the reducer 13, the driving sprocket 14 is fixed on the rotating shaft 13, the driven sprocket 16 corresponding to the driving sprocket 14 is arranged on the connecting shaft 15, the driving chain 17 is arranged on the driving sprocket 14 and the driven sprocket 16, and the driving chain 17 is engaged with the overlong hanging chain.

The motor in the embodiment is a commercially available motor which can be used for driving a suspension chain, such as a motor sold by Shenyang motor group Shenfeng Motor complete set company, Inc. with model number YE3, and the speed reducer is also a commercially available product, such as a speed reducer sold by Suzhou Asiasimei transmission equipment Inc. with model number WPWDAS series; the driving station can drive the overlong suspension chain by specifically limiting the structure of the driving station.

The present embodiment provides a control method based on the above control mechanism, as shown in fig. 8, the control method including the steps of:

The control method of the embodiment can judge the tightness of each section of suspension chain (the suspension chain between two adjacent motors is a section of suspension chain) by receiving the tension displacement data sent by the electronic ruler, and sends an instruction to the drive station according to the judgment result to adjust the tightness of each section of suspension chain.

In some embodiments, as shown in fig. 9, the S2 controller sends a command to the driving station according to the tension displacement data, and specifically includes the following steps:

Wherein the inward threshold L1 and the outward threshold L1 are preferably between 50mm and 100 mm; the working principle of the embodiment is as follows: when the suspension chain runs at a constant speed V1, the telescopic rod position of the electronic ruler on the tensioning mechanism is located at the middle position of the tensioning stroke, when the telescopic rod stretches outwards (or inwards), the electronic ruler feeds back the generated chain moving position distance to a PLC control program, the PLC controls the motor to increase or decrease the motor speed in the opposite direction of tensioning displacement (V1+ V2 feedback compensation speed) according to the received tensioning displacement distance feedback signal, so that the tensioning moves towards the default middle position of the system, if the inward shrinkage value L exceeds an inward threshold L1, the length of the section of the suspension chain is shortened, the rotating speed of the corresponding motor needs to be increased, the length of the section of the suspension chain is increased, so that the telescopic rod of the electronic ruler extends outwards until the tensioning position reaches the middle balance position, the process is repeated, the tensioning is always located at the interval position of the middle balance position, and the inward threshold L1 and the outward threshold L1 can be manually set according to actual needs, by setting the inward threshold L1 and the outward threshold L1, the length of a suspension chain between two motors can be changed within a safety range, the rotating speed of the motors does not need to be adjusted frequently, when the length of the suspension chain between the two motors exceeds the threshold, the rotating speed of the corresponding motor is adjusted, and the feedback processes of the motors of other groups and the electronic ruler are the same; this allows the entire suspension chain to be in a dynamically balanced traveling motion.

In some embodiments, as shown in fig. 10, the control method further comprises the steps of:

Wherein the threshold S1 is equal to or greater than half the link pitch.

The actual value of the threshold S1 of each item is based on the set value during actual debugging operation, and since the total length of the suspension chain is increased after a period of operation, the influence is not great in a shorter suspension chain system, and frequent adjustment is not needed, but in an ultra-long chain system, if the length value cannot be timely increased according to the total length of the chain, the total length of the chain can be determined and adjusted in advance and preventively, and frequent shutdown is caused. And the overlength chain, the total length (overlength accumulated change value) change is also very big during the operation, there is the feedback of the electronic ruler, the system sums up the position distance fed back by each electronic ruler, obtains the sum of each tight position change displacement distance, obtains the increment of the total basic length value of the chain comparison chain, can prompt maintenance personnel to adjust the chain length in advance, avoids frequent halt, and when the total length of the chain is adjusted by manual maintenance, the maintenance personnel can quickly confirm which section of chain on which the chain is specifically adjusted to have the most reasonable total length, can adjust how long the chain length, greatly save maintenance time.

In some embodiments, as shown in fig. 11, the control method further includes the steps of:

the control system of S5 receives dynamic monitoring or output of the frequency converter motor operation parameters, and calculates the motor torque value, judges whether the motor torque value exceeds the safety value, if any motor torque value exceeds the safety value, sends the stop operation instruction to all motors, and sends the motor torque value to the display screen, when all motor torque value does not exceed the safety value, then proceeds step S6;

For a built project, the value of the motor torque value is a relatively fixed range, the running speeds of chains of each project are different, the set motor reduction ratios are different, the running torques are different, the lengths and the loads of the chains in each section are different, and the actual running torques are different, so that the torque value of the motor can be manually set according to a specific scene; the controller can accurate control motor operation parameter, and the converter can dynamic monitoring or each item parameter when output motor operation: such as revolution, torque, current, voltage, frequency, vector energy and the like, calculating the torque value of the motor during operation, judging the tensile load during operation of each section of chain according to the change of the torque value of each motor, and when the load exceeds a safety value during operation of a single motor and other motors operate normally, automatically alarming by the system, and stopping the operation of each motor so as to avoid mechanical hard faults caused by the system; meanwhile, maintenance personnel can judge which section of chain is abnormal in advance according to the change of the motor torque given by the system, and can accurately judge the abnormal section, thereby greatly reducing the time for finding faults and improving the maintenance efficiency by dozens of times; and according to the operation parameter data fed back by the system and the data of the deviation of the system parameters from normal values, maintenance personnel can judge and overhaul in advance to perform preventive maintenance. In a conventional common chain system, the fault trend cannot be judged in advance, and only after-treatment is carried out when a fault occurs; if all the motor torque values exceed the normal operation system parameters, maintenance personnel can judge that the chain is lack of lubrication in the whole and need to supplement lubricating oil in time, and when the chain confirms that the lubrication conditions are met and all the motor torque values exceed the normal operation system parameters, the chain load can be judged to exceed the load allowed by the system, namely the system overload, so that decision and execution basis is provided for a manager to reduce the chain load. In a conventional short-distance chain operation system, a common frequency converter is usually used for changing the speed of a motor to realize simple speed regulation, and the function of prejudging is not available in the common chain system.

A computer program (which may also be referred to or described as a program, software application, module, software module, script, or code) can be written in any form of programming language, including compiled or interpreted languages, or declarative or procedural languages, and it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program may, but need not, correspond to a file in a file system. A program can be stored in a portion of a file that holds other programs or data, e.g., one or more scripts stored in: in a markup language document; in a single file dedicated to the relevant program; or in multiple coordinated files, such as files that store one or more modules, sub programs, or portions of code. A computer program can be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.

The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can also be implemented as, special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit).

Computers suitable for carrying out computer programs include, and illustratively may be based on, general purpose microprocessors, or special purpose microprocessors, or both, or any other kind of central processing unit. Typically, the central processing unit will receive instructions and data from a read-only memory or a random access memory or both. The essential elements of a computer are a central processing unit for executing or executing instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto optical disks, or optical disks. However, a computer need not have such a device. Further, the computer may be embedded in another apparatus, e.g., a mobile telephone, a Personal Digital Assistant (PDA), a mobile audio or video player, a game console, a Global Positioning System (GPS) receiver, or a removable storage device, e.g., a Universal Serial Bus (USB) flash drive, or the like.

Computer readable media suitable for storing computer program instructions and data include all forms of non volatile memory, media and memory devices, including by way of example: semiconductor memory devices, such as EPROM, EEPROM, and flash memory devices; magnetic disks, e.g., internal hard disks or removable disks; magneto-optical disks; CD-ROM and DVD-ROM disks. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.

To send interactions with guests, embodiments of the subject matter described in this specification may be implemented on a computer having: a display device, such as a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, or a touch-sensitive human-machine interface (touch screen); or the intelligent industrial touch control integrated machine is used for displaying information to the visitor; and a keyboard and a pointing device such as a mouse or trackball by which a visitor can send input to the computer. Other kinds of devices may also be used to send interactions with guests; for example, feedback provided to the visitor may be any form of sensory feedback, e.g., visual feedback, auditory feedback, or tactile feedback; and input from the visitor may be received in any form, including audible input, speech input, or tactile input. In addition, the computer may interact with the guest by sending documents to the apparatus used by the guest and receiving documents from the apparatus; for example, by sending a web page to a web browser on the guest's client device in response to a request received from the web browser.

Implementations of the subject matter described in this specification can be implemented in a computing system that includes a back-end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front-end component, e.g., a client computer having a graphical guest interface or a web browser through which a guest can interact with an implementation of the subject matter described in this specification, or any combination of one or more such back-end, middleware, or front-end components. The components in the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network ("LAN") and a wide area network ("WAN"), e.g., the Internet. __ the computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any inventions or of what may be claimed, but rather as descriptions of features that may embody particular implementations of particular inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination. Moreover, although features may be described above as acting in combination and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.

Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as: such operations are required to be performed in the particular order shown, or in sequential order, or all illustrated operations may be performed, in order to achieve desirable results. In certain situations, multitasking and parallel processing may be advantageous. Moreover, the separation of various system modules and components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that

Particular embodiments of the subject matter have been described. Other implementations are within the scope of the following claims. For example, the activities recited in the claims can be performed in a different order and still achieve desirable results. As one example, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In certain implementations, multitasking and parallel processing may be advantageous.

Claims

1. The multi-motor synchronous operation control mechanism for the ultra-long suspension chain is characterized by comprising a plurality of driving stations (1) for driving the ultra-long suspension chain and a tensioning mechanism matched with the driving stations (1), wherein the tensioning mechanism comprises telescopic joints (4) which are arranged for connecting a straight rail (2) and a bent rail (3), the straight rail (2) and the bent rail (3) are connected in a sliding mode through the telescopic joints (4), an electronic ruler (5) is arranged between the straight rail (2) and the bent rail (3), and the electronic ruler (5) is in communication connection with a control system (6); the driving station (1) is in communication connection with the control system (6) through a frequency converter (7), and in the advancing direction, the driving station (1) is located on the front side of the tensioning mechanism.

2. The mechanism of claim 1, further comprising a fixing frame (8) disposed on the straight rail (2), wherein one end of the fixing frame (8) is connected to the straight rail (2), the other end of the fixing frame extends toward the curved rail (3), a pulley (9) is disposed at an end of the fixing frame (8) beyond the curved rail (3), a counterweight (10) is disposed on the curved rail (3), the counterweight (10) is connected to a counterweight (11) after passing through a slot of the pulley (9), the electronic ruler (5) is disposed at an end of the fixing frame (8) connected to the straight rail (2), and a pull rod extending end of the electronic ruler (5) is connected to an end of the curved rail (3) far away from the straight rail (2).

3. The multi-motor synchronous operation control mechanism of the overlong hanging chain as claimed in claim 1, wherein the driving station (1) comprises a motor, a reducer, a rotating shaft (13), a driving sprocket (14), a connecting shaft (15), a driven sprocket (16) and a driving chain (17), the motor (12) is connected with the rotating shaft (13) through the reducer (13), the driving sprocket (14) is fixed on the rotating shaft (13), the driven sprocket (16) corresponding to the driving sprocket (14) is arranged on the connecting shaft (15), the driving chain (17) is arranged on the driving sprocket (14) and the driven sprocket (16), and the driving chain (17) is meshed with the overlong hanging chain.

4. A control method based on the control mechanism according to any one of claims 1 to 3, characterized by comprising the steps of:

5. The control method according to claim 4, wherein the step S2 of sending the command to the drive station by the control system according to the tension displacement data comprises the following steps:

s23 judges if the outward elongation value l exceeds the outward threshold value l1, if yes, the command of reducing the rotating speed is sent to the driving station, if not, the processing is not carried out.

6. The control method according to claim 4, characterized by further comprising the steps of:

7. Control method according to claim 6, characterized in that the threshold S1 is equal to or greater than half the link pitch.

8. The control method according to claim 4, characterized by further comprising the steps of:

9. The control method according to claim 8, wherein when the torque values of all the motors do not exceed the safety value, the step S6 is performed;

s6, judging whether the torque value of each motor exceeds the normal range value, if the torque value of all the motors exceeds the normal range value, sending an overload prompting instruction to the display screen, if the torque value of any one or more motors exceeds the maximum limit set value, sending a wire-stopping maintenance prompting instruction to the motors, and sending the torque value of all the motors to the display screen, if the torque value of all the motors does not exceed the normal range value, not processing.