CN208471422U - A kind of automatic rope arranger for winch - Google Patents
A kind of automatic rope arranger for winch Download PDFInfo
- Publication number
- CN208471422U CN208471422U CN201820711790.8U CN201820711790U CN208471422U CN 208471422 U CN208471422 U CN 208471422U CN 201820711790 U CN201820711790 U CN 201820711790U CN 208471422 U CN208471422 U CN 208471422U
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- China
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- rope
- lead screw
- winding jib
- rope winding
- winch
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Abstract
A kind of automatic rope arranger for winch is fixed on the underface of winch drum；Rope winding jib pedestal is composed of rope winding jib frame and rope winding jib side plate；Positive/negative thread lead screw and symmetrical and lead screw two sides polished rods are connected on rope winding jib pedestal；In one end of lead screw by shaft coupling, lead screw is connected with servo motor, control processor is installed in the side of servo motor；Following is exactly the application of various kinds of sensors and the application of control processor to facilitate rope winding jib to realize intelligentized control.Firstly, being equipped with rotary encoder on drawworks drum；Displacement sensor is installed on correction guiding mechanism；Non-contact inductive is separately installed with close to switch at the both ends of positive/negative thread lead screw；Complete machine is completed.In work, servo motor is adjusted by control processor and realizes accurately following during winch rope-discharging, error auto compensatng realizes the orderly of wirerope, stablizes row's rope；It is simple with structure, automate high reliablity the characteristics of.
Description
Technical field
The utility model relates to winch Intelligent drainage rope technical field, in particular to a kind of automatic rope arranger for winch.
Background technique
Winch is highly important lifting lifting equipment in industrial circle, commonly used in the assistant conveyance of underground coal mine, with
And the underground hoisting during oil exploitation is promoted.Therefore its safety used is all extremely important for these industrial circles
The problem of.Find have applied to the winch in dredging vehicle oil recovery due to the particularity of its own operating condition at present by investigation
The higher wirerope-winding number of plies, it is therefore desirable to equipped with row's rope guiding of Winch rope arranger row's auxiliary winch, control winch row
Rope is orderly, regular progress.But can usually find during the work time winch instantly exist during winding row's rope with
Lower problem:
(1) tracking error such as occurred during arranging and restricting for winch can not independently find not mention more autonomous
It calculating and carries out error compensation, this is just that winch works manufactured obstacle for a long time, if because winch works for a long time, it
It itself not can guarantee movement and be always maintained at accurate, row's rope in an orderly manner；
(2) inaccurate due to following during wire rope winding, it presses and restricts caused by commutation not in time, twisted rope phenomenon,
Steel rope abrasion is easily caused even to cause the fracture of wirerope, the generation of these phenomenons has the service life situation of wirerope
Greatly damage.
Summary of the invention
In order to overcome the defects of the prior art described above, the purpose of this utility model is to provide a kind of winch rope arranging automaticallies
Device can be realized the real-time of wirerope and accurately follow, if occur row's rope error, Intelligent drainage during the row of wirerope rope
Rope device can quickly and effectively go to solve the problems, such as this, the winch to work long hours suitable for oil recovery business, to improve winch
The problem of these row's rope disorders being likely to occur during wire rope winding, to improve the service life of wirerope, it is ensured that
The safety of oil producing operation carries out.
In order to achieve the above purposes, the technical solution adopted by the utility model is:
A kind of automatic rope arranger for winch is fixed on the underface of winch drum, including rope winding jib rack 10, rope winding jib rack
10 surface is disposed with rope winding jib pedestal 9, and the rope winding jib pedestal 9 is by rope winding jib frame 9-1 and left and right rope winding jib side
Plate 13,14 forms, and positive/negative thread lead screw 7 is connected on rope winding jib pedestal 9, and be symmetrically distributed in 7 liang of positive/negative thread lead screw
The righting polished rod 11,12 of side；It is connected by shaft coupling 3 with servo motor 2 in one end of positive/negative thread lead screw 7, in servo motor 2
Side install control processor 4；Correction guiding mechanism 8 is installed on positive/negative thread lead screw 7, is installed on guiding mechanism 8 of rectifying a deviation
There is displacement sensor 23；Non-contact inductive is separately installed with close to switch 5,6 in the left and right ends of positive/negative thread lead screw 7.
The correction guiding mechanism 8 includes that upper end is U-shaped deviation-rectifying bracket 22, and 22 left and right sides of deviation-rectifying bracket is pacified respectively
It is equipped with introducing wheel 18 and export wheel 19, has correction wheel in the arranged just beneath for introducing both wheel 18 and export wheel 19 middle position
21, the top of each wheel is respectively arranged with pressure rope roller 15,16,17, the installed load sensing in the shaft at export wheel 19
Device 20.
The utility model has the beneficial effects that
(1) by modernization sensor element realize row rope during it is accurate test and precisely follow, the row of realizing
Error analysis and autonomous compensation and the raising of control precision during rope；
(2) by the control and regulation of controllable measuring cell and Error Compensation Algorithm, it is orderly stable to realize wirerope
Row's rope purpose；
(3) rope winding jib structure is simple, and simple to install is convenient, by modernizing the use of sensing element, simplifies rope winding jib
Complex mechanical structure, be row rope better effect it is firm, to improve the service life of wirerope, shorten maintenance, maintenance
Period.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the three-dimensional axonometric drawing of the utility model correction guiding mechanism.
Fig. 3 is the PID control and feedforward control schematic diagram of the utility model.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawing.
Referring to Fig.1, a kind of automatic rope arranger for winch is fixed on the underface of winch drum, including rope winding jib rack 10, row
Rope device rack -10 is fixed on the underface of winch drum by foundation bolt, and the surface of rope winding jib rack 10 is connected by bolt
It connects and is disposed with rope winding jib pedestal 9, the rope winding jib pedestal 9 is by rope winding jib frame 9-1 and left and right rope winding jib side plate 13,14
Composition, is connected with positive/negative thread lead screw 7, and be symmetrically distributed in the righting of 7 two sides of positive/negative thread lead screw on rope winding jib pedestal 9
Polished rod 11,12；It is connected by shaft coupling 3 with servo motor 2 in one end of positive/negative thread lead screw 7, is pacified in the side of servo motor 2
Fill control processor 4；Correction guiding mechanism 8 is installed on positive/negative thread lead screw 7, displacement is installed on guiding mechanism 8 of rectifying a deviation and is passed
Sensor 23；Non-contact inductive is separately installed with close to switch 5,6 in the left and right ends of positive/negative thread lead screw 7；In winch drum
Rotary encoder 1 is installed to detect the real-time rope stretching position of wirerope on body；
Referring to Fig. 2, the correction guiding mechanism 8 includes that upper end is U-shaped deviation-rectifying bracket 22, deviation-rectifying bracket 22 or so
Two sides are mounted with introducing wheel 18 and export wheel 19 respectively, in the arranged just beneath for introducing both wheel 18 and export wheel 19 middle position
Have a correction wheel 21, the top of each wheel is respectively arranged with pressure rope rolling 15,16,17, during arranging rope from constrain wirerope position
The effect set the phenomenon that rope partially, guarantees wirerope at idler wheel center to prevent wirerope from skipping rope during arranging rope
Position winding；The installed load sensor 20 in the shaft at export wheel 19, for testing the tensioning pulling force of wirerope.
Working principle of the utility model is:
Rotary encoder 1 is mounted on drawworks drum, detects the steel wire on winch drum by rotary encoder 1 first
Then the accurate location of rope will test result and pass to control processor 4 as electronic signals；Secondly control processor 4 is right
The measurement result of rotary encoder 1 carries out calculation processing, and the rope in its result and positive/negative thread lead screw 7 is carried out away from measurement result
Compare, and data calculated result progress signal is converted to be formed to instruct accordingly and is transferred to servo motor 2, then servo motor 2
Start to start and positive/negative thread lead screw 7 is driven to be driven, at the same time the correction guiding mechanism 8 on positive/negative thread lead screw 7
Start to follow in real time, during following, correction guiding mechanism 8 detects wirerope by displacement sensor 23 mounted thereto
The error amount of arrangement, so that further control processor carries out corresponding error compensation.When correction guiding mechanism 8 be moved to it is positive and negative
When 7 both ends of thread lead screw, non-contact inductive analyzes the exact position of correction guiding mechanism close to switch 5,6 by calculating,
Then automatic reverse is carried out come release command by control processor 4.To complete the operation of entire row's rope process.
Introduce the realization that wheel 18 follows
During arranging rope, previously by the rotary encoder 1 and correction guiding mechanism 8 on installation and drawworks drum
Displacement sensor 23, come record wirerope real-time row's rope position and guiding device actual position, then with subsequent auxiliary
Feedback system is helped to calculate required compensation error, then by control processor 4, servo motor 2 is issued instructions to, by watching
It takes motor 2 and changes revolving speed and direction to realize that guiding device and the real-time of wirerope follow.
The utility model building block is more, measures and will receive all various influences, such as rotary encoder 1
Counting precision, the response time of servo motor 2, control precision etc. all can synchronizing to follow and impact to wirerope, so
It needs exist for being balanced adjusting by external means.Here, the side combined by using feedforward control and pid control algorithm
Method, realizes the position-force control of servomotor, to realize error compensation and accurate control.
In PID closed loop control algorithm, using the physical location where the guiding mechanism 8 of rectifying a deviation as the feedback of control system,
The position can be obtained by the reality output of servo motor 2.And wirerope detected by rotary encoder 1 is on barrel
Position is actually theoretical position of the guiding mechanism 8 on lead screw of rectifying a deviation.The physical location of the two is compared calculating can
To obtain the rigid real-time tracking error of steel wire, then by PID control calculating, control processor coded treatment improves wirerope
Follow situation and row rope precision.
The accurate location and the calculated results for the correction guiding mechanism 8 that feedforward control obtains sampling in the previous period
It compares and analyzes, calculates the error locus trend of its wire rope winding position, to be modified by control processor 4
Compensation is calculated, realizes that synchronizing within next period follows, accurate row's rope.The presence of feedforward control makes directive wheel and wirerope
Synchronization it is more accurate, the row of ensure that restrict effect accuracy.PID control system figure as shown in Figure 3.Wherein, r (t) is row's rope
Theoretical position is taken turns, u (t) is row's rope sheave physical location, and e (t) is row's rope sheave location error, and c (t) is servo-electric after PID control
Machine actual set position, o (t) are the revolving speed of servomotor in the last period.
The realization of automatic reverse
Guiding mechanism 8 of rectifying a deviation is accurate on positive/negative thread lead screw 7, timely realizes that the mechanism of automatic reverse is: by opening
Upper electro-detection when machine obtains the monocycle stroke of winch rope-discharging, and the monocycle row of winch is then recorded in control processor 4
It restricts on stroke, with the close switch 5,6 of non-contact inductive and correction guiding mechanism 8 of the installation of 7 both ends of positive/negative thread lead screw
Calculating is compared in the wirerope real time position that displacement sensor 23 obtains, and calculated result input feedback link is modified place
Then processing signal is sent to control processor 4 by reason herein, realize that correction is led by the instruction distribution of control processor 4
Accurate commutation of the positive mechanism 8 in lead screw position.
In the action process for realizing automatic reverse, key link therein is the determination of winch rope-discharging monocycle stroke.
We are to calculate to analyze its monocycle row's rope stroke, therefore high-precision rotary coding by rotary encoder 1 herein
Device 1 is highly important for the accuracy of stroke cycle.In addition, being mounted on the contactless sense at 7 both ends of positive/negative thread lead screw
The data record of switch 5,6 should be approached, and the algorithm of feedforward link controls the instruction of precision control processor to the end
Accuracy is all the necessary guarantee for realizing accurate automatic reverse.After this, executing agency -- servo motor 2 is by receiving control
The transmission of processor 4 instructs, to be converted accordingly, adjustment, to ensure that the directive wheel for arranging rope accurately follows wirerope same
Step migration, and introduce accurate commutation of the wheel 18 on lead screw.After commutating successfully each time, it can be incited somebody to action by control processor 4
Error before is reset, to alleviate the pressure of data storage, to guarantee the accuracy calculated every time.It is realized in servo motor 2
It is reversed to accelerate to continue to keep to introduce the migration synchronous with wirerope of wheel 18 after accurately controlling, until sensing that the non-of the other end connects
Touch is close to inductive pick-up.The non-contact inductive for being distributed in lead screw both ends is realizing the standard for introducing wheel 18 close to switch 5,6
Very important effect is played in true commutation process.It is non-at left and right sides of lead screw during the entire row of intelligent rope winding jib rope
Contact inductive proximity switch 5,6 can work in each stroke cycle, thus its detection accuracy and work it is steady
It is qualitative all to have far-reaching influence to entire intelligent rope winding jib, therefore in the selection of component assembly it has to be ensured that its work
Reliability, to realize the accurate work of whole device.
The realization of error compensation
Intelligent rope winding jib is comprehensive to use feedforward control and pid control algorithm, realizes control by this feedback algorithm
Processor 4 is to servo motor 2, the closed-loop control of winch rope-discharging, to achieve the purpose that introducing the real-time of wheel 18 accurately follows.When
So, at the same time, entire intelligent rope guide additionally uses a set of error-compensating apparatus, to ensure in directive wheel and wirerope
It in the case that actual position is unable to real-time synchronization, can obtain in time, accurate error school is realized in effective error analysis compensation
It is positive to repair.But after detection senses occur for error, the correction guiding mechanism 8 on intelligent rope guide starts to play a role, and correction is led
Positive mechanism 8 is analyzed and processed error, then carries out reparation operation to it by Processing Algorithm, and signal is then passed to control
Processor 4, control processor 4 issue an instruction to control servo motor 2 and the next of guiding mechanism 8 that rectify a deviation as terminal processes
Step operating carrys out correction error, to realize accurate row's rope, implements to follow, here it is the entire correction of intelligent rope guide, compensation
Process.
Claims (2)
1. a kind of automatic rope arranger for winch is fixed on the underface of winch drum, which is characterized in that including rope winding jib rack
(10), it is disposed with rope winding jib pedestal (9) right above rope winding jib rack (10), the rope winding jib pedestal (9) is by rope winding jib frame
Frame (9-1) and left and right rope winding jib side plate (13,14) composition, are connected with positive/negative thread lead screw (7) on rope winding jib pedestal (9),
And it is symmetrically distributed in the righting polished rod (11,12) of positive/negative thread lead screw (7) two sides；It is logical in one end of positive/negative thread lead screw (7)
It crosses shaft coupling (3) to be connected with servo motor (2), control processor (4) is installed in the side of servo motor (2)；Positive/negative thread silk
Correction guiding mechanism (8) is installed on thick stick (7), displacement sensor (23) are installed in correction guiding mechanism (8)；In positive/negative thread
The left and right ends of lead screw (7) are separately installed with non-contact inductive close to switch (5,6).
2. a kind of automatic rope arranger for winch according to claim 1, which is characterized in that the correction guiding mechanism (8)
It is U-shaped deviation-rectifying bracket (22) including upper end, is mounted with introducing wheel (18) and export wheel at left and right sides of deviation-rectifying bracket (22) respectively
(19), introduce wheel (18) and export wheel (19) the two middle position arranged just beneath have correction wheel (21), each wheel it is upper
Fang Jun is respectively arranged with pressure rope roller (15,16,17), the installed load sensor (20) in the shaft at export wheel (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820711790.8U CN208471422U (en) | 2018-05-14 | 2018-05-14 | A kind of automatic rope arranger for winch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820711790.8U CN208471422U (en) | 2018-05-14 | 2018-05-14 | A kind of automatic rope arranger for winch |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208471422U true CN208471422U (en) | 2019-02-05 |
Family
ID=65221542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820711790.8U Expired - Fee Related CN208471422U (en) | 2018-05-14 | 2018-05-14 | A kind of automatic rope arranger for winch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208471422U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562870A (en) * | 2019-08-28 | 2019-12-13 | 四川昆仑石油设备制造有限公司 | Automatic rope arranging device of intelligent winch |
| CN114803918A (en) * | 2022-05-13 | 2022-07-29 | 中煤第三建设集团机电安装工程有限责任公司 | Sinking winch adopting hydraulic disc brake as safety brake |
-
2018
- 2018-05-14 CN CN201820711790.8U patent/CN208471422U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562870A (en) * | 2019-08-28 | 2019-12-13 | 四川昆仑石油设备制造有限公司 | Automatic rope arranging device of intelligent winch |
| CN114803918A (en) * | 2022-05-13 | 2022-07-29 | 中煤第三建设集团机电安装工程有限责任公司 | Sinking winch adopting hydraulic disc brake as safety brake |
| CN114803918B (en) * | 2022-05-13 | 2024-05-10 | 中煤第三建设集团机电安装工程有限责任公司 | Shaft sinking winch adopting hydraulic disc brake as safety brake |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190205 Termination date: 20190514 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |