EP3071505B1 - Hebezugsystem und verfahren zur steuerung des hebezugsystems - Google Patents

Hebezugsystem und verfahren zur steuerung des hebezugsystems Download PDF

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Publication number
EP3071505B1
EP3071505B1 EP15856960.8A EP15856960A EP3071505B1 EP 3071505 B1 EP3071505 B1 EP 3071505B1 EP 15856960 A EP15856960 A EP 15856960A EP 3071505 B1 EP3071505 B1 EP 3071505B1
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EP
European Patent Office
Prior art keywords
cage
conveyance
connecting rod
chairing
hoisting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15856960.8A
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English (en)
French (fr)
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EP3071505A4 (de
EP3071505A1 (de
Inventor
Peilin QIU
Weihan SONG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Schweiz AG
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ABB Schweiz AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by ABB Schweiz AG filed Critical ABB Schweiz AG
Priority to PL15856960T priority Critical patent/PL3071505T3/pl
Publication of EP3071505A1 publication Critical patent/EP3071505A1/de
Publication of EP3071505A4 publication Critical patent/EP3071505A4/de
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Publication of EP3071505B1 publication Critical patent/EP3071505B1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B17/00—Hoistway equipment
    • B66B17/34—Safe lift clips; Keps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B17/00—Hoistway equipment
    • B66B17/14—Applications of loading and unloading equipment

Definitions

  • the present invention relates to a method for controlling a hoist system, and a hoist system, and specifically relates to a method for controlling a hoist system, and a hoist system, for loading and unloading a conveyance, such as a cage, used in a mine shaft.
  • Shaft hoisting is broadly used in mining process.
  • the rope such as a steel rope
  • the conveyance such as cage or skip
  • the rope would be severely deformed when the load on the conveyance is heavy, resulting in upwards and downward movements and leftwards and rightwards shake of the conveyance, and thus causing difficulties to obtain a safe operation.
  • various cage hoist systems used in auxiliary shaft primarily comprise a driving system and a cage stabilizing system.
  • conventional controlling methods may be divided into two types according to their operation principle: one is to fix the conveyance by upper and lower locking arms which can be extended out by hydraulic work station; the other is by overfalling the rope and then pushing conveyance from lower side through hydraulic work station.
  • Both controlling methods use separate driving system and cage stabilizing system, and thus need to frequently operate the hoist and hydraulic work station respectively. This decreases the operation efficiency of the hoist system, and puts a high requirement on the mechanical strength of the upper and lower locking arms and the performance of the hydraulic work station, which increases the system cost without efficiently increasing the stability and safety of the system.
  • DE 28 39 160 A1 discloses a method for operating a hoisting gear for mining, in which a conveyance is moved to the insets and locked there. After loading or unloading the conveyance, it is moved vertically until the tension of the hoisting cable is adapted to the load being carried.
  • the object of the present invention is to overcome the defects in the prior art by providing a method for controlling a hoist system, and a hoist system, in which, a controlling system and a supporting device cooperate with each other, to adjust the motor torque automatically, so that the operation efficiency of the hoist system and the working life of the rope are both improved and the safety in the hoisting process is ensured.
  • a controlling system and a supporting device cooperate with each other, to adjust the motor torque automatically, so that the operation efficiency of the hoist system and the working life of the rope are both improved and the safety in the hoisting process is ensured.
  • the present invention provides the following technical solutions.
  • a method for controlling a hoist system the hoist system comprises a hoisting motor for hoisting a conveyance, and a supporting device for supporting the conveyance when the conveyance reaches a predetermined position; the method is characterized in that, when the conveyance moves downward to the supporting device and then is supported (chaired and/or locked) by the supporting device, the hoisting force (and correspondingly driving torque) of the hoisting motor is adjusted to a predetermined value.
  • the supporting device comprises a chairing device for chairing the conveyance and a locking device for locking the conveyance; the method is characterized in that it further comprises the following steps: when the conveyance is chaired by the chairing device, the locking device locks the conveyance.
  • the predetermined value for the hoisting force is larger than zero but smaller than the dead weight of the conveyance.
  • the predetermined value is project specific and calculated to have a safe margin to rope slip.
  • the predetermined value for the hoisting force is in a range of 50% to 80% of dead weight of the conveyance.
  • a hoist system characterized in that it may carry out any one of the methods as mentioned in the above.
  • the supporting device comprises at least four groups of connecting rod mechanisms symmetrically arranged relative to a shaft, each group of the connecting rod mechanism comprises a cage chairing connecting rod, a cage chairing ram and a connecting rod seat; both the supporting end of the cage chairing connecting rod and the cage chairing ram are mounted on the connecting rod seat that is to be fixed on a wall of the shaft; wherein the cage chairing ram is connected with the cage chairing connecting rod, and collapsible to bring the cage chairing connecting rod out of the shaft or into the shaft.
  • each group of the connecting rod mechanism of the supporting device further comprises a cage locking connecting rod and a cage locking ram, both the supporting end of the cage locking connecting rod and the cage locking ram are mounted on the connecting rod seat, wherein, the cage locking ram is connected with the cage locking connecting rod, and collapsible to bring the cage locking connecting rod to lock or unlock the conveyance.
  • the hoist system further comprises a hoisting control cabinet and a cage stabilizing control cabinet; the cage stabilizing control cabinet may communicate with the hoisting control cabinet, to make the supporting device and hoisting motor cooperate with each other during the process of berthing the cage and releasing the cage.
  • the hoist system further comprises a cage stabilizing hydraulic work station and a local control box; the cage stabilizing control cabinet may communicate with the local control box, to control the cage stabilizing hydraulic work station and the supporting device and provide feedback according to position of platform at which the conveyance stops,.
  • the method for controlling the hoist system and the hoist system on the one hand, lower the requirement on the strength of the supporting device and on the hydraulic clamping system, and hence greatly reduce the cost in connection with the supporting device; on the other hand, the complex processes, such as the tension sensing and the position aligning processes during berthing the cage and releasing the cage, can be simplified, the load on the rope can be effectively controlled and optimized, and thus the operation efficiency of the hoist can be improved and the working life of the rope can be lengthened.
  • the claimed system and controlling method may be used for hoisting the skip in a production shaft, as well as for hoisting a cage in an auxiliary shaft; however, since the controlling system and method are substantially the same for hoisting a cage and hoisting a skip, for simplicity, the following only describes hoisting of a cage in an auxiliary shaft as an example.
  • the hoist system comprises n cage stabilizing hydraulic work stations, n supporting devices, n local control boxes and a cage stabilizing control cabinet, wherein "n" indicates the number of all the shaft platforms for horizontal loading and unloading.
  • the cage stabilizing hydraulic work station provides driving source for the supporting device, and consists of an oil tank, an oil pump, controlling valves and pipes. It enables proper acting on the corresponding hydraulic ram and connecting rod of the supporting device, and meanwhile provides the state feedback to the controlling system.
  • the cage stabilizing mechanic device (hereafter referred to as supporting device) is a device for chairing and locking the cage.
  • Each supporting device consists of at least four identical connecting rod structures, and each connecting rod structure primarily consists of a cage chairing connecting rod, a cage locking connecting rod, a cage chairing ram, a cage locking ram, and a connecting rod seat.
  • the cage chairing connecting rod transfers the load of the cage to the shaft wall via the connecting rod seat, the cage locking connecting rod cooperates with the cage chairing connecting rod to lock the cage, the cage chairing ram is collapsible to put the cage chairing connecting rod in a cage chairing position or in a retracted position, and the cage locking ram is collapsible to put the cage locking connecting rod in a locking position or an unlocking position.
  • the local control box can signal operation command to the cage stabilizing hydraulic work station and supporting device, and provides state feedback. There are operation buttons and indicator lights on the control box.
  • the control box interior employs Profibus-DP sub-station communication module and I/O module, to communicate with cage stabilizing control cabinet.
  • the cage stabilizing control cabinet acting as a controlling core of the cage stabilizing system, employs Profibus-DP to communicate with n local controlling boxes, and therefore, according to a position of a platform at which the cage stops, controls the cage stabilizing hydraulic work station and supporting device to stabilize the cage and provides state feedback. Meanwhile, the cage stabilizing control cabinet communicates with hoisting transmission control systems via Module-Bus, to cooperatively operate the cage stabilizing and the hoisting processes, so that the process of berthing and releasing cage can be safely ensured.
  • FIG. 2 shows a schematic diagram showing the cooperation among a group of connecting rod structures of a supporting device, cage 10, and shaft 11.
  • the supporting ends of the cage chairing connecting rod 1 and cage locking connecting rod 2 are mounted on the same hinge pedestal, and the cage chairing connecting rod 1 and cage locking connecting rod 2 are driven respectively by the cage chairing ram 5 and cage locking ram 4 to perform the cage chairing and cage locking actions.
  • the hinge pedestals of the cage chairing ram 5 and cage locking ram 4 and the common hinge pedestal of the cage chairing connecting rod 1 and cage locking connecting rod 2 are all mounted on the connecting rod seat 6 which is fixedly mounted on the shaft wall 12.
  • a cradle 3, as a platform device, can be optionally included.
  • the chairing end of the cage chairing connecting rod 1 and the locking end of cage locking connecting rod 2 are respectively provided with slots adapted to the edge of the cage, for chairing and locking the cage.
  • the supporting device may be provided at various loading platforms, for supporting the cage when it reaches required positions.
  • the supporting device may always extend to a cage guide, being ready for use, for example, when the supporting device is located at the bottom of the case guide; or the supporting device may usually be in a retracted position, and extend into the case guide only when required for use.
  • the method for controlling the hoist system concerns the process of berthing cage and that of releasing cage.
  • the cage is chaired to be positioned, the process of berthing cage employs the upper berthing, i.e., the cage is slowly put in place from the above of the cage chairing connecting rod; while the process of releasing cage employs the upper releasing, i.e., the cage is slowly moved out of the place from the above of the cage chairing connecting rod.
  • the following describes both situations where a cage moving downward from a position higher than the loading platform is berthed and where a cage moving upward from a position lower than the loading platform is berthed.
  • Figure 4 shows the releasing process after the berthing of the cage moving downward.
  • the hoisting control cabinet sends a command for moving upwards, the cage stabilizing control cabinet then immediately sends a command for unlocking, the cage locking ram contracts and withdraws the cage locking connecting rod to unlock the cage.
  • the hoisting control cabinet then sends a starting signal. Since the steel rope maintains a tension of 8 ton when the hoisting motor stops, the 8 ton tension will then be used as the preset torque in the starting process and then the hoisting torque can be gradually increased, so that a potential reversed rotation due to the excessively loose steel rope can be avoided.
  • the cage then leaves the cage chairing device, and the cage chairing ram contracts to withdraw the cage chairing connecting rod out of the case guide, and the releasing process is ended.
  • the hoisting control cabinet reduces the cage speed to 0.1m/s, at which speed the cage continues to move upward to a position higher than the supporting device, and then the hoisting control cabinet sends a command for stopping.
  • the cage stabilizing control cabinet then sends an operation command for stabilizing the cage, and the cage chairing ram extends to push the cage chairing connecting rod out of the shaft to the case guide, to get ready for chairing the cage.
  • the hoisting control cabinet forces the cage to change the speed direction of the cage, and to move downwards gradually to be berthed.
  • the hoisting control cabinet sends a command for moving downward, and the cage stabilizing control cabinet then immediately sends a command for unlocking so that the cage locking ram contracts and withdraws the cage locking connecting rod to unlock the cage.
  • the hoisting control cabinet then changes the speed direction and forces the cage to move upward at a lower speed for a short while and then stop.
  • the cage chairing ram contracts to withdraw the cage chairing connecting rod out of the cage guide, and then the hoisting control cabinet starts the motor to lower the cage.
  • the hoisting control cabinet is required to force the preset speed direction of the cage to be changed, so that the system have to temporally bypass the hoist reversion and hoist running direction protection.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Types And Forms Of Lifts (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)

Claims (9)

  1. Verfahren zur Steuerung eines Hebezugsystems, wobei das Hebezugsystem einen Hubmotor zum Heben eines Beförderungsmittels (10) und eine Lagervorrichtung zum Lagern des Beförderungsmittels (10), wenn das Beförderungsmittel eine festgelegte Position erreicht, umfasst,
    dadurch gekennzeichnet, dass, wenn sich das Beförderungsmittel (10) nach unten zur Lagervorrichtung bewegt und dann von der Lagervorrichtung gelagert wird, die Hebekraft des Hubmotors auf einen festgelegten Wert angepasst wird, der größer als Null und kleiner als das Leergewicht des Beförderungsmittels (10) ist.
  2. Verfahren zur Steuerung eines Hebezugsystems nach Anspruch 1, wobei die Lagervorrichtung eine Aufnahmevorrichtung zum Aufnehmen des Beförderungsmittels (10) und eine Verriegelungsvorrichtung zum Verriegeln des Beförderungsmittels (10) umfasst; und wobei das Verfahren ferner den folgenden Schritt umfasst:
    wenn das Beförderungsmittel (10) von der Aufnahmevorrichtung aufgenommen wird, verriegelt die Verriegelungsvorrichtung das Beförderungsmittel (10).
  3. Verfahren zur Steuerung eines Hebezugsystems nach Anspruch 1 oder 2, wobei der festgelegte Wert für die Hebekraft in einem Bereich von 50 % bis 80 % des Leergewichts des Beförderungsmittels (10) liegt.
  4. Hebezugsystem, Folgendes umfassend:
    einen Hubmotor zum Fördern eines Beförderungsmittels (10) ;
    eine Lagervorrichtung zum Lagern des Beförderungsmittels (10), wenn das Beförderungsmittel eine festgelegte Position erreicht;
    ein Steuerungssystem, das die Hebekraft des Hubmotors auf einen festgelegten Wert anpassen kann, der größer als Null und kleiner als das Leergewicht des Beförderungsmittels (10) ist, wobei der Wert angepasst wird, wenn sich das Beförderungsmittel (10) nach unten zur Lagervorrichtung bewegt und dann von der Lagervorrichtung gelagert wird.
  5. Hebezugsystem nach Anspruch 4, wobei die Lagervorrichtung mindestens vier Gruppen Verbindungsstabstrukturen umfasst, die in Bezug zu einem Schacht symmetrisch angeordnet sind, wobei jede Gruppe der Verbindungsstabstruktur einen Korbaufnahmeverbindungsstab (1), einen Korbaufnahmekolben (5) und einen Verbindungsstabsitz (6) umfasst;
    wobei sowohl das lagernde Ende des Korbaufnahmeverbindungsstabs (1) als auch der Korbaufnahmekolben (5) auf dem Verbindungsstabsitz (6) angebracht sind, der an einer Wand (12) des Schachts (11) befestigt wird,
    wobei der Korbaufnahmekolben (5) mit dem Korbaufnahmeverbindungsstab (1) verbunden ist und einfahrbar ist, um den Korbaufnahmeverbindungsstab (1) aus dem Schacht (11) heraus oder in den Schacht (11) hinein zu bewegen.
  6. Hebezugsystem nach Anspruch 5, wobei jede Gruppe der Verbindungsstabstruktur der Lagervorrichtung ferner einen Korbverriegelungsverbindungsstab (2) und einen Korbverriegelungskolben (4) umfasst, wobei sowohl das lagernde Ende des Korbverriegelungsverbindungsstabs (2) als auch der Korbverriegelungskolben (4) auf dem Verbindungsstabsitz (6) angebracht sind,
    wobei der Korbverriegelungskolben (4) mit dem Korbverriegelungsverbindungsstab (2) verbunden ist und einfahrbar ist, um den Korbverriegelungsverbindungsstab (2) dazu zu bewegen, das Beförderungsmittel (10) zu verriegeln oder zu entriegeln.
  7. Hebezugsystem nach Anspruch 5 oder 6, wobei das Steuerungssystem des Hebezugsystems ferner einen Hebezugschaltschrank und einen Korbstabilisierungsschaltschrank umfasst und der Korbstabilisierungsschaltschrank mit dem Hebezugschaltschrank kommuniziert, um dafür zu sorgen, dass die Lagervorrichtung und der Hubmotor während des Verankerns und Lösens des Korbs zusammenwirken.
  8. Hebezugsystem nach Anspruch 7, wobei das Hebezugsystem ferner eine korbstabilisierende, hydraulische Arbeitsstation und einen lokalen Schaltkasten umfasst, wobei der Korbstabilisierungsschaltschrank mit dem lokalen Schaltkasten kommuniziert, um die korbstabilisierende, hydraulische Arbeitsstation und die Lagervorrichtung zu steuern und Rückmeldung bezüglich der Plattformposition, an der das Beförderungsmittel (10) anhält, zu geben.
  9. Hebezugsystem nach Anspruch 4, wobei das Steuerungssystem das Verfahren nach einem der Ansprüche 1 bis 3 ausführen kann.
EP15856960.8A 2014-11-05 2015-11-04 Hebezugsystem und verfahren zur steuerung des hebezugsystems Active EP3071505B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL15856960T PL3071505T3 (pl) 2014-11-05 2015-11-04 Układ wyciągu i sposób sterowania układem wyciągu

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201410635971.3A CN105621175B (zh) 2014-11-05 2014-11-05 提升机系统的控制方法和提升机系统
PCT/CN2015/093753 WO2016070804A1 (en) 2014-11-05 2015-11-04 Hoist system and method for controlling the hoist system

Publications (3)

Publication Number Publication Date
EP3071505A1 EP3071505A1 (de) 2016-09-28
EP3071505A4 EP3071505A4 (de) 2016-11-23
EP3071505B1 true EP3071505B1 (de) 2019-07-10

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EP15856960.8A Active EP3071505B1 (de) 2014-11-05 2015-11-04 Hebezugsystem und verfahren zur steuerung des hebezugsystems

Country Status (9)

Country Link
EP (1) EP3071505B1 (de)
CN (1) CN105621175B (de)
AU (1) AU2015342330B2 (de)
CA (1) CA2966712C (de)
PE (1) PE20170760A1 (de)
PL (1) PL3071505T3 (de)
RU (1) RU2662586C1 (de)
WO (1) WO2016070804A1 (de)
ZA (1) ZA201703273B (de)

Families Citing this family (2)

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CN106744217B (zh) * 2017-03-20 2018-07-13 长沙矿山研究院有限责任公司 承托锁定装置及方法
CN110451368B (zh) * 2019-08-22 2022-04-15 日立电梯（中国）有限公司 电梯轿厢自锁装置及电梯

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Also Published As

Publication number Publication date
EP3071505A4 (de) 2016-11-23
PL3071505T3 (pl) 2020-01-31
EP3071505A1 (de) 2016-09-28
CA2966712A1 (en) 2016-05-12
AU2015342330A1 (en) 2017-06-15
CN105621175A (zh) 2016-06-01
RU2662586C1 (ru) 2018-07-26
ZA201703273B (en) 2019-06-26
CN105621175B (zh) 2017-12-19
AU2015342330B2 (en) 2018-06-14
WO2016070804A1 (en) 2016-05-12
PE20170760A1 (es) 2017-07-04
CA2966712C (en) 2019-05-14

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