EP4017826A1 - Control unit and method for operating a conveying means - Google Patents
Control unit and method for operating a conveying meansInfo
- Publication number
- EP4017826A1 EP4017826A1 EP20764580.5A EP20764580A EP4017826A1 EP 4017826 A1 EP4017826 A1 EP 4017826A1 EP 20764580 A EP20764580 A EP 20764580A EP 4017826 A1 EP4017826 A1 EP 4017826A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- load
- control device
- signal
- speed
- drives
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000001133 acceleration Effects 0.000 claims description 24
- 230000001419 dependent effect Effects 0.000 claims description 23
- 230000001276 controlling effect Effects 0.000 claims description 19
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 238000011156 evaluation Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 description 15
- 230000005540 biological transmission Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000011076 safety test Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
- B66C13/32—Control systems or devices for electric drives for operating grab bucket hoists by means of one or more electric motors used both for hosting and lowering the loads and for opening and closing the bucket jaws
- B66C13/38—Systems controlling independent motors
-
- 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
-
- 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
Definitions
- the invention relates to a control unit for a conveyor and a method for operating a conveyor, in particular a hoist,
- the conveying means comprising a drive unit and a control unit for controlling the drive unit, the drive unit comprising at least two drives, the drives being controlled by means of a control device of the control unit, with rotary encoders of the control unit with the respective shafts assigned to the drives the drive unit of the conveyor are connected by means of and detect a rotation of the shafts, a rotary signal and / or a speed signal being transmitted to the control device for controlling the drives by means of a transmitter device of the respective rotary encoder.
- Control unit comprises at least one shaft that can be coupled to a machine or is arranged directly on a shaft of the machine. net.
- the rotary encoder further comprises a mechanical, optical or magnetic encoder device or detection device.
- the encoder device can, for example, form an incremental encoder or an absolute encoder.
- the transmitter device can be a switch or a counter.
- the Gebereinrich device can win signals such as a rotation angle signal or a speed signal for one revolution of the shaft. A rotational angle position of the shaft or a rotational speed of the shaft can then be determined from these signals, for example by means of a control device of the control unit to which the rotary encoder is connected via a signal line.
- Rotary encoders are also used in or on conveying equipment such as hoists with cables, cranes, loading booms, trolleys, winches or the like, as well as conveyor belts, and are exposed to great loads during operation.
- a housing of a rotary encoder is therefore usually made of metal, so that the rotary encoder is comparatively resistant to mechanical and thermal effects.
- the rotary encoder To transmit a signal from the transmitter device to a control device of a conveyor, the rotary encoder has a signal output device that processes the signal for transmission to the control device, which is particularly necessary when using optical fibers.
- Rotary encoders on the conveyor are primarily used to obtain a certain operating parameter of the conveyor, such as a speed of a cable drum or a motor or electric motor to drive the cable drum.
- Funding means are known in which a drive unit is designed with ropes for lifting a load, rope drums, electric motors and an interposed gearbox.
- a rotary encoder can then be arranged on a shaft of an electric motor and / or a shaft of the cable drum, which transmits an angle of rotation signal and / or a speed signal to the control device.
- Funding means also regularly have several such drives or electric motors, so that a number of rotary encoders are then installed on the hoist.
- the control device then forms, together with the rotary encoders, a control unit which regulates the drive unit as a function of a load to be conveyed.
- the control device receives information from the respective rotary encoders about a speed of the respective drives or a shaft of a drive train driven by an electric motor.
- the control device then regulates a motor speed of the respective electric motor in such a way that a certain speed is not exceeded when lifting or lowering a payload or a speed on a cable drum. If a payload is comparatively small, for example an empty container, the payload can be raised at a higher speed, that is to say at a higher motor speed of the drive.
- a control unit can also be provided on other conveying means, such as for example a continuous conveyor or belt conveyor.
- a number of drives are regularly used to transport a load or workload.
- the control device is regularly arranged in a control cabinet of the conveyor and can be thoroughlybil det as a programmable logic controller (PLC), the control device then being programmed via an external programming device, such as a standardized computer , can be done.
- PLC programmable logic controller
- a processing device is then integrated into the control or control device, which processes an angle of rotation signal and / or a speed signal from rotary encoders of the conveyor and converts it so that the control device can control the drives as a function of the speed.
- the disadvantage here is that individual programming of the programmable logic controller is always required. This programming of the control device also always requires that applicable safety regulations be taken into account, so that an individual safety check of the control device designed in this way is always necessary.
- a conveying speed is limited by regulating the individual drives with the programmable logic controller or control device.
- the present invention is therefore based on the object of proposing a method for operating a conveyor and a control unit as well as a conveyor with which the conveyor can be operated more efficiently.
- the conveyor comprises a drive unit and a control unit for controlling the drive unit, the drive unit comprising at least two drives, the drives being controlled by means of a control device of the control unit , with a rotary encoder of the control unit being connected to the drives respectively assigned shafts of the drive unit of the conveying means and detecting a rotation of the shafts, a rotation angle signal and / or a speed signal being transmitted to the control device for controlling the drives by means of an encoder device of the respective rotary encoder will, where the control device determines the respective speed of the shafts and compares it with a reference speed, the control device controlling the drives as a function of the comparison.
- At least one rotary encoder is provided on each of the drives or on each drive train with one or more shafts on at least one of the shafts, which is used to determine a speed of the shaft of the drive train, and thus of the drive.
- the respective rotary encoder transmits the angle of rotation signal and / or the speed signal of the encoder device of the rotary encoder to the control device.
- the rotary encoder can process the angle of rotation signal and / or the speed signal itself and also transmit a speed value or a value that contains speed information to the control device.
- the control device can then determine the respective speed of the shafts and thus of the individual drives.
- the control device also compares the respective speeds of the shafts or drives and compares them with a reference speed.
- the control device can consequently in each case determine a differential speed for a speed of each drive with reference to the reference speed.
- the control device then controls the respective drives as a function of the comparison of the determined speed of the drive or the shaft and the reference speed. So it is possible to synchronize all drives of the drive unit according to the reference speed. A possible speed difference between the drives, which can occur with individual control of the drives according to the speeds of the assigned rotary encoders, is thus avoided. Overall, a higher conveying speed can then also be achieved, since the drive with the lowest speed within the drive unit no longer determines a maximum conveying speed.
- the reference speed can, for example, be based on the drive with the highest speed, so that the speed of the other drives is adapted to the highest possible speed by means of the control device.
- the control device can determine the reference speed in accordance with a rotation angle signal and / or a speed signal from one of the rotary encoders, the control device being able to regulate the drives in accordance with the reference speed.
- the control device can then simultaneously record all speeds of the shafts or drive trains via the respective assigned th rotary encoder and, for example, set the highest speed as the reference speed, according to which the speeds of the other drives are controlled in each case.
- all drives can be operated with a largely identical, synchronized speed. It is then also possible to avoid a possible slip of the drive unit between the drives, which can lead to power losses.
- control device can determine the respective acceleration of the shafts and compare it with a reference acceleration, the control device being able to regulate the drives in each case according to the reference acceleration.
- the control device can determine or regulate the acceleration using an angle of rotation signal and / or a speed signal in connection with a time segment. It is then also possible to regulate the acceleration of the respective shafts of the drives or the drives according to the reference acceleration.
- the control device can determine or select the reference acceleration according to one of the measured accelerations of the shafts. By regulating the drives according to the reference acceleration, it is possible to synchronize the speeds of the drives or shafts even more precisely.
- the control device can detect load signals from load sensors of a sensor device of the control unit assigned to the drives and can compare them with a reference load, the control device being able to regulate the drives in accordance with the reference load.
- Each drive or drive train can be assigned a load sensor for this drive or the associated Wave determined a workload and transmitted a load signal to the Steuervorrich device.
- the control device can compare the respective load signals with one another and set them in relation to a reference load.
- one of the load signals can be the reference load. All drives can then be regulated by the control device according to the reference load, for example by adjusting the speed of the respective drive.
- a range specification for a speed, an acceleration and / or a load can be stored in the control device, wherein the reference speed, the reference acceleration and / or the reference load can each be limited by the range specification. Then it is also no longer necessary for the control device to use a speed, an acceleration and / or a load, which was determined via a rotary encoder and / or a load sensor of a drive or drive train, as a reference speed, reference acceleration and / or reference load for regulation the drives are used.
- the range specification can be stored in the control device, for example, so that all drives can be regulated with regard to their speed, acceleration and / or load within the scope of the range specification while the conveyor is in operation. At the same time, synchronization of the respective drives is also possible here, since the default range or a range within which the drives are synchronized can be selected to be sufficiently narrow.
- the load signals from the load sensors assigned to the drives can be recorded, with the rotary encoders being able to determine a load-dependent variable depending on the rotation angle signal and / or the speed signal and the load signal and transmit it to the control device for controlling the drives. Accordingly, the combination of the angle of rotation signal and / or the speed signal of the encoder device of the encoder with the load signal of the load sensor, which is otherwise provided within the control device Rotary encoder are relocated. Consequently, each of the rotary encoders receives the load signal of the respectively assigned load sensor and processes this by means of data processing together with the rotation angle signal and / or the speed signal of the respective rotary encoder to the load-dependent variable, which can then be transmitted to the control device.
- the load-dependent variable can then be processed further by the control device directly to control the respective drives, without the need for special, individual programming of the control device to merge the relevant signals.
- the rotary encoders installed on the conveying means can then also be standardized rotary encoders that only require a one-time safety check with regard to signal processing or programming. A programming of a programmable logic controller of the control device can thus be carried out with significantly less effort.
- the signal processing in the respective rotary encoder also results in a faster processing speed of the control unit overall, since the control device no longer has to carry out this signal processing.
- the load-dependent variable can also be transmitted as a signal to the control device from the respective rotary encoder, the signal then differing from the rotation angle signal and / or the speed signal in that the signal contains information directly related to the workload.
- the control device can limit a speed of the drives or switch off the drives when a load is exceeded. It can then be ensured that a maximum permissible speed, for example a limit speed, for a workload to be conveyed on the conveying means is not exceeded. Also, no workload that is too great for the subsidy can be funded with the subsidy.
- Load signals for an operating point, a rope load and / or a wind load can be detected by means of a plurality of load sensors assigned to each drive. These load sensors can, for example, be attached to a cable drum of a hoist or also measure a wind speed from which the wind load can be derived.
- the load sensors can also be used to measure load cases that relate to mechanical faults, for example a break in a shaft or a movement of a boom of the hoist. It is thus possible that a large number of load sensors for measuring the most varied of load cases can be arranged on a hoist or conveying means.
- a load measuring pin or a load measuring cell can be used as a load sensor. If the drive unit or the drives have ropes, for example, two load signals can be recorded for each rope in order to achieve redundancy of the load sensors.
- a load signal is detected by the load sensors assigned to the drives by means of a safety device of the respective rotary encoder, the safety device determining a load-dependent maximum limit speed as a function of the rotation angle signal and / or the speed signal and the load signal and sending it to the control device for controlling the Can transmit drives. Because the respective limit speed is calculated by the safety device of the rotary encoder, the programming effort and the susceptibility of the control device to errors are significantly reduced. The control device can then, for example, take over a value for a maximum speed limit directly from the rotary encoder and process it further to control the drives.
- the effort involved in putting a conveyor into operation can also be significantly reduced in that the control device no longer has to be adapted to certain types of rotation angles or rotational speed signals and load signals and certified in terms of safety, since the Rotary encoders can already process these signals.
- the rotary encoders can therefore each be a self-contained rotary encoder system which only requires a one-time safety test.
- the safety device can determine a function of the limit speed from the rotation angle signal and / or the speed signal and the load signal.
- the mathematical control function of the limit speed can, for example, be adapted to a power-specific characteristic of an electric motor of the drive.
- the limit speed can then be determined continuously and always adapted to a possible maximum power of the electric motor. In this way, for example, a conveying speed of the drive or of the drive unit can advantageously be increased.
- the safety device can correct a load signal from a load sensor, taking into account an acceleration of a work load on the conveyor.
- the safety device can therefore take into account the acceleration of a rope, for example, which may be relevant to determining the limit speed due to its own weight, and the acceleration of the workload when the workload is raised or lowered by means of the drive.
- the safety device can then also determine a net load and / or a gross load. It can also be provided that the safety device calculates sums and differences from individual load values.
- the safety device can determine an eccentricity of a work load or load on a hoist from load signals. If, for example, several load sensors are provided, or the drive unit has several ropes for lifting a load, a distribution of the load on the ropes or load sensors can be determined. Depending on the nature of the load, for example a container or another object with an uneven load distribution, a greater load can be measured on one rope than on another rope. The safety device can then distribute this load take into account and adjust the limit speeds of the respective drives of the ropes according to the largest measured load.
- the control device can transmit a status signal to an operating mode of the drives to the safety device, the safety device being able to take the status signal into account when determining the load-dependent limit speed.
- An operating mode can be, for example, lifting or lowering a load, exceeding a limit load or overload, a slack rope, an empty run or a fast run of the respective drives.
- a load-dependent limit speed can also be completely disregarded during an empty run if, for example, a load resulting from the weight of the rope is very low.
- the safety device can determine a lifting, lowering, overload, slack rope or empty run as an operating mode of the drive and transmit it to the control device. Accordingly, the safety device can also determine the operating mode itself by the safety device evaluating the relevant signals and deriving a possible operating mode therefrom. For this purpose, certain value ranges or signal patterns can be stored in the safety device that allow the operating mode to be determined by comparison. If the control device transmits an operating mode to the safety device, a plausibility comparison can take place in the safety device. If the results differ, the respective drive or the entire drive unit can be switched off by the control device, for example.
- a switching signal of a limit switch of the sensor device can be detected by means of the rotary encoder, the rotary encoder being able to determine a relative position of a drive load on the conveyor as a function of the switching signal, the safety device taking the switching signal into account when determining the load-dependent limit speed.
- gen can.
- the relative position of a trolley of a boom of a hoist can then be determined via limit switches. It can then also be specified that in, for example, safety-relevant areas, such as routes below the hoist or the like, the workload or load is moved at a lower limit speed.
- a possible length of a rope in a certain position of the hoist can also be determined via limit switches and taken into account when determining the limit speed.
- the safety device can assign a maximum load limit to each operating mode or relative position.
- the dependent limit speed can then in turn be determined via the respective maximum limit load.
- the maximum load limit can in particular be determined taking into account safety aspects and stored in the safety device for the respective operating mode or relative position.
- the load signal of a load sensor is not taken into account when the respective maximum limit load is reached.
- the load signal is recorded by means of a counting device of the rotary encoder, the counting device being able to store the angle of rotation signals and / or the speed signals and the load signals over an operating period, determine a load-dependent damage value and transmit this to the control device for controlling the drive .
- the counting device can then store individual or also all signals, the load signals, the rotational angle signals and / or the rotational speed signals over the operating time segment and add them up.
- the counting device can then determine a total load or a collective load which then corresponds to the load-dependent damage value. For example, each lifting of a load leads to progressive component fatigue on the hoist, with a certain number of values being reached or a total moving load components on the hoist must be checked or replaced for safety reasons.
- the counter can determine a point in time of wear of the drive or other components from the stored signals. At this point in time, a check or a maintenance with possibly replacement of components is necessary.
- the counting device can also signal the imminent arrival of the point in time or the point in time itself and, by transmitting the damage value to the control device, cause the drive or drive unit to be switched off or to operate with reduced power.
- the load signal can also be detected by means of an evaluation device of the rotary encoder, the evaluation device being able to determine a weight of a workload on the conveying means from the load signal and to transmit it to the control device.
- the evaluation device can accordingly determine a net load in that load signals from the evaluation device are used to weigh the workload or a payload. It is then no longer necessary to use load sensors that are specifically used to weigh the load and to determine a load on components of the conveying means. Overall, the load sensors otherwise used for weighing can be saved.
- a further rotary encoder of the control unit is connected to a further shaft of the drive and detects a rotation of the further shaft, the speed and / or the load signal then being detected by means of the further rotary encoder, the further re Rotary encoder as a function of a further angle of rotation signal and / or a further speed signal and the load signal can determine a further load-dependent variable and then transmit this to the control device for controlling the drive.
- the drive unit can for example include several pulleys, electric motors and gears that are used to convey a single workload. The tax direction then receives a current load-dependent variable from the respective rotary encoders, which can be used by the control device to control the entire th drive unit or individual motors or drives of the drive unit.
- the control unit according to the invention for a conveyor comprises a control device and at least two rotary encoders, the rotary encoders being connectable to shafts of a conveying means assigned to drives of a drive unit for detecting a rotation of the respective shaft, the Rotary encoders each include an encoder device for outputting an angle of rotation signal and / or a speed signal to the control device for controlling the drive unit, the respective speed of the shaft being determinable by means of the control device and being comparable to a reference speed, the drives depending on the comparison using the Control device are controllable.
- the advantages of the control unit according to the invention reference is made to the description of the advantages of the method according to the invention.
- One of the rotary encoders can advantageously have the control device.
- the control unit then only needs the one control device that is integrated in one of the rotary encoders.
- the other rotary encoder (s) can then be directly connected to the rotary encoder which has the control device.
- the angle of rotation signals and / or speed signals of the other rotary encoders can then be transmitted directly to the control device of one rotary encoder, the control device being able to further process the signals for controlling the drive unit or the individual drives without any special individual programming of the control device to merge the relevant signals would be required.
- the rotary encoders installed on the conveying means can then be standardized rotary encoders which only require a one-time safety check with regard to signal processing or programming.
- a Programming a programmable logic controller of the control device can thus be carried out with much less effort.
- a load-dependent variable can also be transmitted by load sensors as a signal to the control device of the one rotary encoder, the signal then differing from the rotation angle signal and / or the speed signal in that the signal contains information relating directly to a workplace.
- All rotary encoders of the control unit can easily be coupled to the control device via fieldbus interfaces for data exchange via a fieldbus. In principle, however, it is also possible to arrange the control device separately from the rotary encoders.
- the rotary encoder can also have a switching output for exceeding and / or falling below a parameterizable load-dependent output value.
- the switching output can be equipped with a safety or semiconductor relay.
- the parameterizable output value can be a speed value, an overspeed or underspeed value, a rotation angle value or a speed difference value.
- the rotary encoder can be an incremental encoder and / or an absolute encoder.
- An incremental signal can then be used advantageously, for example, when the rotary encoder is arranged on a drive or an electric motor of the drive unit.
- An incremental signal and / or an absolute signal can advantageously be further processed if the rotary encoder is arranged, for example, on a cable drum of the drive unit.
- the transmitter device can output these signals in parallel to the angle of rotation signal and / or speed signal or the load-dependent variable.
- the absolute signal can be a so-called single-turn signal, based on a single rotation of the shaft, or a multiturn signal, based on a large number of revolutions of the shaft.
- Continue the rotary encoder can have a digital or analog output for an absolute or incremental signal.
- the analog output can be a current or voltage output.
- the control unit can comprise four or more rotary encoders.
- the control unit can consist of two incremental encoders and two
- Absolute encoders can be formed which are assigned to two drive trains or are connected to them.
- a number of rotary encoders can, however, be much larger if the conveying means is, for example, a continuous conveyor, such as a belt conveyor, on which many drives are installed.
- control unit results from the description of features in the dependent claims which refer back to the device claim 16.
- the conveyor according to the invention in particular a hoist, crane or the like, comprises a control unit according to the invention and a
- FIG. 1 is a schematic representation of a configuration of a control unit according to the prior art
- 2 is a schematic representation of a configuration of a control unit; 3 shows a simplified representation of a drive unit.
- Fig. 1 shows a control unit 10 according to the prior art together with a drive unit 11, which is not shown here Has drive.
- the control unit 10 comprises a control device 12, a sensor device 13 with a load sensor (not shown here), a programming device 14 and a rotary encoder 15. Further rotary encoders 15, which are connected to drives of the drive unit 11, can be connected to the control device 12.
- the control device 12 has a processing device 16 which can receive a load signal of a load sensor from the sensor device 13.
- the processing device 16 can also receive a rotation angle signal and / or a speed signal from a transmitter device 17 of the rotary transmitter 15.
- the rotary encoder 15 is coupled here via a shaft 18 to the drive unit 11, which here may include a cable drum, not shown, and an electric motor and a transmission.
- the control unit 10 and the drive unit 11 are part of a hoist or crane, not shown here.
- the processing device 16 uses the load signals of the sensor device 13 and the rotation angle signals and / or speed signals of the rotary encoder 15 to calculate a load-dependent variable, such as a maximum speed limit, on the basis of which it transmits control signals to the drive unit 11 and receives status signals from the drive unit 11
- the control device 12 can be programmed by means of the programming device 14, which can be a computer (not shown here).
- the control unit 10 further includes a counting device 19 which can sum up the load signals of the sensor device 13 present in the processing device 16 over an operating time segment and can thus determine a total load. This results in a damage value which can be transmitted back from the counting device 19 to the processing device 16, for example in the form of a switch-off signal.
- Fig. 2 shows a control unit 20 together with a drive unit 21 in a simplified schematic representation.
- the control unit 20 here comprises a control device 22, a sensor device 23, with load sensors 36, 37, a programming device 24 and rotary encoders 25 and 38.
- the rotary encoders 25 and 38 in turn each have Ge sender devices 26 and 39, safety devices 27 and 40 and counting devices 28 and 41 and are each via shafts 29 and 42 are coupled to drives 43 and 44 of the drive unit 21.
- the encoder 25 coupled to the drive 43 and the encoder 38 coupled to the drive 44 determine a respective angle of rotation signal and / or a speed signal via the respective encoder device 26 or 39 and transmit this to the control device 22.
- the rotary encoder 25 or 38 also receives a load signal from the sensor device 22 or the respective load sensors 36 and 37, the safety device 27 or 40 from the respective angle of rotation signal and / or the speed signal and the Each load signal determines a load-dependent variable, for example a maximum speed limit for each of the drives 43 and 44, which is transmitted to the control device 22 for controlling the drive unit 21 or the drives 43 and 44.
- the respective counting device 28 and 41 also adds up the respective load signals within an operating time segment of the drives 43 and 44 and transmits a damage value to the control device 22.
- the control device 22 can switch off the drive unit, for example.
- the control device 22 can be programmed via the programming device 24.
- the control device 22 can also receive load signals directly from the sensor device 23 and process them further.
- the control device 22 receives status signals from the drive unit 21 or the drives 43 and 44 and forwards them to the respective rotary encoders 25 and 38.
- the status signals relate to an operating mode of the drives 43 and 44, such as lifting or lowering a load or a slack rope.
- the rotary angle signals and / or speed signals transmitted by the rotary encoders 25 and 38 to the control device 22 are further processed by the control device so that a speed of the relevant drive 43 and 44 is determined for each of the drives 43 and 44.
- the control device 22 compares this respective speed with a reference speed, which can be stored in the control device 22, for example, in the form of a range specification. Furthermore, it can also be provided that one of the two speeds is defined by the control device 22 as the reference speed. It is essential that the control device 22 controls the drives 43 and 44 as a function of a comparison of the respective speeds with the reference speed.
- control device 22 can use the speed assigned to the drive 43 as a reference speed define.
- the speeds are now compared with the reference speed, the speed and the reference speed of the drive 43 consequently being identical.
- the drive 44 is then regulated with its speed according to the reference speed.
- the control device additionally carries out a regulation after an acceleration and / or a load.
- FIG. 3 shows a schematic representation of the drive unit 21 with the rotary encoders 25 and 38.
- the rotary encoders 25 and 38 are coupled here via shafts 29 and 42 to cable drums 30 and 45 with cables 31 and 46, respectively, so that the rotary encoders 25 and 38 can each determine an angle of rotation and / or a speed of rotation of the cable drums 30 and 45, respectively.
- the cable drums 30 and 45 each have a cable brake 32 and 47 and are coupled via a gear 33 to the electric motors 34 and 48, which drive the cable drums 30 and 45 via the gear 33.
- a further rotary encoder 35 can be coupled to the electric motor 34 and a further rotary encoder 49 to the electric motor 48, so that a speed of the electric motor 34 and 48 can then be determined by means of the rotary encoders 35 and 49.
- the rotary encoders 35 and 49 can then be designed essentially like the rotary encoders 25 and 38 and be part of the control unit 20.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Control Of Conveyors (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019122703.8A DE102019122703A1 (en) | 2019-08-23 | 2019-08-23 | Control unit and method for operating a conveyor |
PCT/EP2020/072350 WO2021037530A1 (en) | 2019-08-23 | 2020-08-10 | Control unit and method for operating a conveying means |
Publications (1)
Publication Number | Publication Date |
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EP4017826A1 true EP4017826A1 (en) | 2022-06-29 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP20764580.5A Pending EP4017826A1 (en) | 2019-08-23 | 2020-08-10 | Control unit and method for operating a conveying means |
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US (1) | US20220297985A1 (en) |
EP (1) | EP4017826A1 (en) |
JP (1) | JP2022545114A (en) |
CN (1) | CN114375281A (en) |
DE (1) | DE102019122703A1 (en) |
WO (1) | WO2021037530A1 (en) |
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Publication number | Priority date | Publication date | Assignee | Title |
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DE102021103934A1 (en) | 2021-01-27 | 2022-07-28 | Liebherr-Werk Biberach Gmbh | Hoist and method of determining slack in the hoist |
DE102022114451A1 (en) | 2022-06-08 | 2023-12-14 | Jan-Eric Lukoschat | Emergency rappelling device for buildings |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS5414388B2 (en) * | 1973-03-28 | 1979-06-06 | ||
DE2500357A1 (en) * | 1975-01-07 | 1976-07-08 | Roehl Karl Heinz | Grabbing crane control system - uses comparison between winch speeds to adjust speeds of driving motors |
DE2912966A1 (en) * | 1979-03-31 | 1980-10-09 | Licentia Gmbh | Controlled-speed hoist drive - reverses polarity before difference formation by synchronising equipment and has winch drives operating separately or together (NL 2.10.80) |
DE2924070A1 (en) * | 1979-05-14 | 1980-11-27 | Bbc Brown Boveri & Cie | Control system for speed synchronisation of separate drive motors - has difference detector coupled to threshold stages controlling feedback correction loops |
DD145523A1 (en) * | 1979-08-15 | 1980-12-17 | Grimm Hans Leonhard | TWO-WIND LIFT WITH A DEVICE FOR DISPLAYING THE SLOPE |
AT395273B (en) * | 1988-06-13 | 1992-11-10 | Voith Werke | DRIVE FOR LIFTS OR THE LIKE. |
ES2070951T3 (en) * | 1990-05-29 | 1995-06-16 | Siemens Ag | TRACTION REGULATION FOR THE BUCKET CABLES OF A BULK PRODUCT TRANSFERRING DEVICE. |
US5625262A (en) * | 1996-01-03 | 1997-04-29 | Harnischfeger Corporation | System for equalizing the load of a plurality of motors |
US5960930A (en) * | 1997-06-23 | 1999-10-05 | George Koch Sons, Inc. | Power coating painting apparatus with conveyor synchronization and anti-jamming means |
US6653804B1 (en) * | 2000-09-29 | 2003-11-25 | Magnetek, Inc. | Method and apparatus for controlling a bucket hoist using a flux vector AC drive |
JP6753795B2 (en) * | 2017-02-14 | 2020-09-09 | 株式会社神戸製鋼所 | Winch controller and crane |
-
2019
- 2019-08-23 DE DE102019122703.8A patent/DE102019122703A1/en active Pending
-
2020
- 2020-08-10 EP EP20764580.5A patent/EP4017826A1/en active Pending
- 2020-08-10 JP JP2022512400A patent/JP2022545114A/en active Pending
- 2020-08-10 US US17/636,406 patent/US20220297985A1/en active Pending
- 2020-08-10 WO PCT/EP2020/072350 patent/WO2021037530A1/en unknown
- 2020-08-10 CN CN202080059813.1A patent/CN114375281A/en active Pending
Also Published As
Publication number | Publication date |
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CN114375281A (en) | 2022-04-19 |
WO2021037530A1 (en) | 2021-03-04 |
DE102019122703A1 (en) | 2021-02-25 |
JP2022545114A (en) | 2022-10-25 |
US20220297985A1 (en) | 2022-09-22 |
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