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

Definitions

• the present invention relates to a method and device for con ⁇ trolling a lifting machine, a storage medium, and a lifting machine system and, especially, to a method and device for controlling a lifting machine of a cage operating in a shaft, a storage medium, and a lifting machine system including the device .
• the shake table receiving device needs to be connected to the inner and outer vehicle tracks so as to avoid an impact load from directly applying on the cage and avoid the overlarge elongation volume of the steel wire rope due to an overlarge load.
• a heavy platform car the ma- ximum mass is about 39 tons
• the elongation volume of the steel wire rope is large, and the elongation volume is even larger for the lifting in a deep well, in which case when the equipment enters or exits the cage, the cage would jump up and down with instability, caus- ing the equipment to not be able to enter or exit the cage conveniently, reliably or stably.
• the cart equipment coordinated with the shake table is generally in an upward slope state, which requires a relatively larger pushing force of the cart, and when passing by the up- ward/downward slope of the shake table at the time of enter ⁇ ing/exiting the cage, it is quite possible that the personnel may slip and fall, which is very unsafe.
• a cage stabilizing/cage locking device for a shaft cage is dis ⁇ closed, and a converting platform capable of receiving and locking the cage to is also disclosed in the portion of back ⁇ ground art, which converting platform is composed of a cage stabilizing rocker arm, a centering device, a buffering oil cylinder, etc., and the working principle thereof is as fol ⁇ lows: when the cage is resting at the bottom of the well, the cage stabilizing rocker arm is placed onto the cage, in the cage stabilizing rocker arm there is a centering device pro- jected into a hole preserved in the top of the cage, and the buffering oil cylinder holds the centering device up and can dynamically absorb the energy generated by the elastic defor ⁇ mation of the steel wire rope. It can be seen that the above cage stabilizing/cage locking device for a shaft cage and the converting platform are quite complicated in structure, and a cumbersome program is
• the present invention aims to provide a method for control ⁇ ling a lifting machine in a simple and direct manner and a corresponding device thereof, wherein after a loading/unloading operation is completed at a shaft level, the lifting machine can be controlled to release the cage locking device in a simple manner and operate to the next shaft level destination position.
• a method for controlling a lifting machine wherein said lifting machine is used for lifting a cage operating within a shaft, said cage is pro- vided with a plurality of stop blocks for fixing, the wall base of said shaft is deployed with a plurality of latches, with said latches being used for maintaining the position of said cage by moving in the directions approaching said cage when said cage stopped in place so as to be fixed above and below said stop blocks for fixing, and when said cage needs to be released, said latches are moved in the directions away from said cage, so as to have said cage released after all of them have been withdrawn,
• the operator of the lifting machine only needs to operate the lifting machine once, and the lifting machine can automatically complete the coordinating movement as required and perform a normal movement to the destination position thereof by releasing and applying braking for one time, significantly enhancing the operational efficiency of the lifting machine, having good safety monitoring for the cage locking system so as to avoid human operation errors, having quite high safety performance, and at the same reduc ⁇ ing the brake wearing therein.
• said lifting machine is locked. If there are still latches not withdrawn both above and below the stop blocks for fixing, it probably means that there a failure has occurred during the withdrawal of the latches, locking the lifting machine at this moment will contribute towards pre ⁇ venting accidents from happening.
• a shaft signal for a normal movement is sent out, and after having received said shaft signal, said lifting machine pulls said cage so as to run directly to the destination position. If all of the latches above and below the stop blocks for fixing have been withdrawn, then it indicates that there are no obstacles both above and below the cage, and raising or lowering can be car- ried out according to an instruction.
• said shaft signal for the coordinating movement is one for the cage to carry out a coordinating movement upwards;
• said shaft signal for the coordinating movement is one for the cage to carry out the coordinating movement downwards .
• the shaft operator wants to make the cage reach the destination position, what is needed is to only carry out the same operation once again without sending out a signal for the coordinating movement, that is to say, the shaft operator can only send a normal start instruction once to the lifting machine operator without considering which status the latches are in.
• the lifting machine op ⁇ erator also only need to operate the lifting machine once, i.e. control the cage to move to the destination position, and the lifting machine can automatically complete the coor ⁇ dinating movement as required to release and brake for one time and to perform the normal movement to the destination position thereof.
• the shaft operator it is unnecessary for the shaft operator to send out an instruction twice to the lifting machine opera- tor, and the lifting machine operator also need not operate twice, and the lifting machine need not release and brake twice, i.e. without carrying out movement twice.
• the operational efficiency of the lifting machine can be signifi ⁇ cantly enhanced, the cage locking system has comprehensive safety monitoring so as to avoid human operation errors, the ⁇ re is quite high safety performance, and at the same time the braking wearing therein is reduced, and the lifting machine can automatically release the cage locking device after a lo ⁇ ading/unloading is completed at a shaft level and automati- cally operate to the next shaft level destination position.
• the full withdrawal of said latches under said predetermined conditions is particularly as follows: the distance after said cage has carried out the movement is within a predetermined maximum distance and all of said latches have been withdrawn, or, all of said latches have been withdrawn within a predetermined time period after said cage has reached said predetermined maximum distance.
• the maximum distance if the maximum distance is too long, then it is possible that the latches may impact the cage, while the setting of a predeter ⁇ mined time period which needs to be awaited is mainly for waiting for the action of the oil cylinders, i.e. waiting for the oil cylinders to withdraw the latches in place.
• the maximum speed during said upward movement is a first maximum speed
• the maximum speed dur ⁇ ing the movement directly to the destination position afterwards is a second maximum speed, wherein the value of said first maximum speed is smaller than that of said second maxi ⁇ mum speed
• the maximum speed during said downward movement is a third maximum speed
• the maximum speed during the move ⁇ ment directly to the destination position afterwards is a fourth maximum speed, wherein the value of said third maximum speed is smaller than that of said fourth maximum speed.
• said second maximum speed and the fourth maximum speed are equal in value
• said first maximum speed and the third maximum speed are equal in value
• the cage Since the distance of the coordinating movement is relatively short, if the cage operates with a relatively low speed, then the operational stability can be ensured, while during a nor ⁇ mal movement, a relatively high speed can be used to operate to a predetermined position.
• Also provided in the present invention is a device for con- trolling a lifting machine, wherein said lifting machine is used for lifting a cage operating within a shaft, said cage is provided with a plurality of stop blocks for fixing, the wall base of said shaft is deployed with a plurality of latches, with said latches being used for maintaining the po- sition of said cage by moving in the directions approaching said cage when said cage is stopped in place so as to be fi ⁇ xed above and below said stop blocks for fixing, and when said cage needs to be released, said latches are moved in the directions away from said cage, so as to have said cage re- leased after all of them have been withdrawn, and
• said device includes:
• a latch state detecting unit for detecting the withdrawal status of said latches when releasing said cage, and sending out a latch withdrawn signal
• a coordinating movement signal unit for analyzing said latch withdrawn signal after having received the same, and if said latches in one direction have been withdrawn while not all of those in the other direction have been withdrawn, for sending out a shaft signal for the coordinating movement, a coordinating movement control unit for activating said lifting machine to pull said cage to carry out said coordi ⁇ nating movement after having received said shaft signal for the coordinating movement;
• a judgment unit for detecting the withdrawal status of said latches under predetermined conditions after having car ⁇ ried out said coordinating movement, and sending out a detec ⁇ tion signal; and a normal movement control unit for sending out an in ⁇ struction to control said lifting machine to pull said cage so as to run directly to a destination position if it is indicated by said detection signal that all of the latches have been withdrawn.
• said shaft signal for the coordinating movement sent out is one for the cage to carry out the coordinating movement upwards
• said shaft signal for the coordi- nating movement sent out is one for the cage to carry out the coordinating movement downwards.
• a braking unit is further included for sending out an instruction to lock said lifting machine when it is indicated by the latch withdrawn signal that there are still latches that have not been successfully withdrawn both above and below the stop blocks for fixing; and/or, for send ⁇ ing out an instruction to carry out operational braking on said lifting machine when it is indicated by the latch with- drawn signal that not all of said latches have been withdrawn under predetermined conditions.
• the full withdrawal of said latches under said predetermined conditions is particularly as follows: all of said latches have been withdrawn within a predetermined maximum distance after said cage has carried out the coordi ⁇ nating movement, or, all of said latches have been withdrawn within a predetermined time period after said cage has reached said predetermined maximum distance.
• the maximum speed during said upward movement is a first maximum speed
• the maximum speed dur ⁇ ing the movement directly to the destination position afterwards is a second maximum speed, wherein the value of said first maximum speed is smaller than that of the second maxi ⁇ mum speed
• the maximum speed during said downward movement is a third maximum speed
• the maximum speed during the move ⁇ ment directly to the destination position afterwards is a fourth maximum speed, wherein the value of said third maximum speed is smaller than that of said fourth maximum speed.
• said second maximum speed and the fourth maximum speed are equal in value
• said first maximum speed and the third maximum speed are equal in value
• a lifting machine system including a cage, a lifting machine for lifting said cage, and further includ ⁇ ing a device for controlling the lifting machine as described above .
• the present invention further provides a machine readable storage medium which stores instructions for enabling a ma ⁇ chine to carry out any of the abovementioned methods for con ⁇ trolling the lifting machine.
• the shaft operator only needs to carry out the same op ⁇ eration once without sending out a coordinating movement sig ⁇ nal in three different scenarios (all of the latches above the stop blocks for fixing have been withdrawn, all of the latches therebelow have been withdrawn, and all of the lat ⁇ ches thereabove and therebelow have been withdrawn), i.e. it only needs to send a normal start instruction once to the lifting machine operator without considering which scenario the cage locking device is in.
• the lifting machine operator also only needs to operate the lifting machine once, and the lifting machine can automatically complete the coor- dinating movement as required and perform the normal movement to the destination position thereof by carrying out releasing and braking for one time. It is unnecessary for the shaft op ⁇ erator to send out an instruction twice to the lifting machine operator, the lifting machine operator also need not operate twice, and the lifting machine need not release and brake twice, i.e. with carrying out movement twice.
• the op ⁇ erational efficiency of the lifting machine is significantly enhanced, the cage locking system has good safety monitoring so as to avoid human operation errors, there is quite high safety performance, and at the same time the braking wearing therein is reduced, and a lifting machine can automatically release the cage locking device after a loading/unloading is completed at a shaft level and automatically operate to the next shaft level destination position.
• Fig. 1 is a schematic diagram of a cage
• Fig. 2 is a partial flowchart of the procedure according to the method embodiments of the present invention.
• Figs. 3a, 3b and 3c are partial flowcharts of the procedure according to the method embodiments of the present in- vention in different scenarios;
• Fig. 4 is a partial flowchart of the procedure according to the method embodiments of the present invention.
• Fig. 5 is a structural block diagram according to the device embodiments of the present invention.
• a cage 1 is shown in Fig. 1, and the object of stabilizing the cage is achieved by insert ⁇ ing latches (or referred to as cage locking bolt) into the base of the cage to lock the cage.
• ⁇ ing latches or referred to as cage locking bolt
• the cage locking device is used for fixing the cage 1 vertically in a predetermined loading position and an unloading position so as to flush the cage with the floor surface, so that the cage 1 can be fixed in a rela ⁇ tively accurate position stably.
• the cage locking device is usually fixed on the base 5 of the shaft 4, and mainly in ⁇ cludes eight latches 12 with each of them having a position detecting sensor 16 and being driven by a hydraulic oil cyl- inders 14, and at four points of the bottom frame of the cage 1, the latches 12 are movable in the directions approaching the cage 1 and are fixed above and below the stop block for fixing (positioning block) 10 of the cage frame.
• the cage 1 is required to stop within an error range of ⁇ 20 mm under the control of a winder control system (WCS) for the mine well lifting machine 2 so as to flush with the floor.
• WCS winder control system
• the latches 12 move in the directions approaching the cage 1, and the positions of all these 8 latches 12 are monitored by the sensors 16.
• the shake table is low- ered and the shaft door is opened, at this moment the loading or unloading operation can be carried out.
• the shaft door is closed and the shake table is raised.
• the shake table Upon reaching the vertical end position, the shake table will be locked by a locking device on a side thereof, and when the shaft door is closed and the shake table is raised, the hydraulic cylinders will do their best to pull the latches out of the cage so as to release the cage .
• the cage needs to be operated to a next destination, it is required to ensure the withdrawal of the latches from the cage, so there is a need to control the lifting machine during this process so as to automatically release the cage locking device after a loading/unloading is completed at a shaft level and to automatically operate to the next shaft level destination po ⁇ sition .
• the head rope 3 of the lifting system will elongate according to the weight loaded and the position of the cage 1 within the shaft 4, the more weight is loaded, or the lower position the cage 1 is in the shaft 4, the longer the elongation of the head rope 3 would be.
• the cage 1 will move up ⁇ wards, the stop blocks for fixing 10 on the cage 1 will press the latches 12 thereabove, while after the cage 1 is loaded, the cage 1 will move downwards, and the stop blocks for fix ⁇ ing 10 on the cage 1 will press the latches 12 therebelow.
• Such design of the latches 12 and the stop blocks for fixing 10 requires that when the stop blocks for fixing 10 are still in contact with the latches 12, the latches 12 would not be able to leave their positions, and the control system of the lifting machine 2 needs to move the position of the cage 1 so as to enable the latches 12 to be moved in the directions away from the cage 1. Only the latches 12 that have not been led (i.e. not in contact with the stop blocks for fixing 10) can be moved in the directions away from the cage 1 without moving the cage 1. For example, if the cage 1 is unloaded, the cage 1 will be moved upwards. Before carrying out the lifting cycle, the control system of the lifting machine 2 needs to move the cage 1 downwards until the latches 12 the- reabove are disengaged. Similarly, the same process also needs to be taken into account when carrying out the loading, but the difference is that the cage 1 needs to be moved up ⁇ wards so as to enable the latches 12 therebelow to be disen ⁇ gaged .
• the cage 1 will be held up by 4 latches 12 above the cage 1 and 4 latches 12 below the cage 1; if a weight is loaded into the cage 1, the cage 1 will be moved downwards to apply forces on those 4 latches 12 therebelow as a result of the traction of the head rope 3; before the cage 1 can be moved towards the next destination, all these 8 latches 12 need to come back to the positions away from the shaft 4; after an operator located at the horizontal level of the shaft 4 starts to release the cage locking system, these 8 latches 12 will be withdrawn under the drive of a hydraulic cylinder 14 respectively, however, only those 4 latches 12 thereabove can come back to the positions away from the shaft 4, while those 4 latches 12 therebelow will still remain pressed by the cage 1 and cannot be withdrawn, at this mo ⁇ ment, the lifting machine 2 need to be moved upwards for a distance until the 4 latches 12 therebelow are also with ⁇ drawn.
• S4 judging whether all of the 4 latches thereabove have been withdrawn or if all of the 4 latches therebelow have been withdrawn;
• S5 if the judgment result in S4 is no, i.e. there are latches that have not been successfully withdrawn both there- above and therebelow, then the lifting machine is locked up and prohibited from releasing the braking for operation, and at the same time, sends out the fault information that the releasing of the cage locking system is failed;
• a coordinating movement is started, i.e. the lift ⁇ ing machine starts to move upwards automatically with a rela ⁇ tively low maximum speed of about 0.1 m/s during the move ⁇ ment, which is mainly because that the operational stability can be ensured with a relatively low speed in a comparatively short distance of the upward movement;
• SlOb a coordinating movement is started, i.e. the lift ⁇ ing machine starts to move downwards automatically with a relatively low maximum speed (for example, it can be the same as that in SlOa) of about 0.1 m/s during the movement, which is mainly because that the operational stability can be en- sured with a relatively low speed in a comparatively short distance of the downward movement;
• S12b in this scenario, during the coordinating movement in SlOb, if the movement distance of the cage reaches a pre ⁇ determined maximum distance, then, at this moment, the cage stops moving, and after having waited for a predetermined time period (for example 2 s), if there are still any latches not withdrawn at this moment, then S13b should be carried out; for the same reason, when predetermining the value of the maximum distance, if the maximum distance is too long, then it is possible that the latches may impact the cage, while the setting of a predetermined time period which needs to be awaited is mainly for waiting for the action of the oil cylinders, i.e. waiting for the oil cylinders to withdraw the latches in place.
• S13b apply working braking, and send out the fault in ⁇ formation that the releasing of the cage locking system has failed;
• S16 is in the end state, similar to the initial sta ⁇ te SI, the cage is in place, braking is applied, and the cage is locked by the cage locking device, then a lifting cycle is completed.
• a device 100 for controlling a lifting machine wherein said lifting machine is used for lifting a cage operating within a shaft, the bottom of said cage is provided with a plurality of stop blocks for fixing, the wall base of said shaft is de ⁇ ployed with a plurality of latches, with said latches being used for maintaining the position of said cage by moving in the directions approaching said cage when said cage is stopped in place so as to be fixed above and below said stop blocks for fixing, and when said cage needs to be released, said latches are moved in the directions away from said cage, so as to have said cage released after all of them have been withdrawn, and said device includes:
• a latch state detecting unit 101 for detecting the withdrawal status of said latches when releasing said cage, and sending out a latch withdrawn signal
• a coordinating movement signal unit 106 for analyzing said latch withdrawn signal after having received the same, if said latches in one direction have been withdrawn while not all of those in the other direction have been withdrawn, sending out a shaft signal for a coordinating movement,
• a coordinating movement control unit 102 for activating said lifting machine to pull said cage to carry out said co ⁇ ordinating movement after having received said shaft signal for the coordinating movement;
• a judgment unit 103 for detecting the withdrawal status of said latches under predetermined conditions after having carried out said coordinating movement, and sending out a de ⁇ tection signal
• a normal movement control unit 104 for sending out an in- struction to control said lifting machine to pull said cage so as to run directly to a destination position if it is indicated by said detection signal that all of the latches have been withdrawn.
• said shaft signal for the coordinating movement sent out is one for the cage to carry out the coordinating movement upwards
• said shaft signal for the coordi ⁇ nating movement sent out is one for the cage to carry out the coordinating movement downwards.
• a braking unit 105 is further included for sending out an instruction to lock said lifting machine when it is indicated by the latch withdrawn signal that there are latches not been successfully withdrawn both above and below the stop blocks for fixing; and/or, for sending out an instruction to carry out operational braking on said lifting machine when it is indicated by the latch withdrawn signal that not all of said latches have been withdrawn under prede ⁇ termined conditions.
• the full withdrawal of said latches under said predetermined conditions is as follows: all of said latches have been withdrawn within a predetermined maximum distance after said cage has carried out the coordinating movement, or, all of said latches have been withdrawn within a predetermined time period after said cage has reached said predetermined maximum distance.
• the maximum speed during said upward movement is a first maximum speed
• the maximum speed dur ⁇ ing the movement directly to the destination position afterwards is a second maximum speed, wherein the value of said first maximum speed is smaller than that of said second maxi ⁇ mum speed
• the maximum speed during said downward movement is a third maximum speed
• the maximum speed during the move ⁇ ment directly to the destination position afterwards is a fourth maximum speed, wherein the value of said third maximum speed is smaller than that of said fourth maximum speed.
• said second maximum speed and the fourth maximum speed are equal in value, and said first maximum speed and the third maximum speed are equal in value.
• a lifting machine system which includes a cage, a lifting machine for lifting said cage, further includes a device for controlling the lifting machine as described above.
• the present invention further provides a machine readable storage medium which stores instructions for enabling a ma ⁇ chine to carry out the method for controlling the lifting machine according to the description of the present document.
• a system or device provided with the storage medium on which the software pro ⁇ gram codes performing the functions of any one of the above- mentioned embodiments are stored, and to enable the computer (or CPU or MPU) of the system or device to read out and exe- cute the program codes stored in the storage medium.
• the program codes read from the storage medium per se are capable of performing the functions of any one of the abovementioned embodiments, thus the program codes and the storage medium storing the program codes constitute a part of the present invention.
• the storage medium embodiments for providing the program codes include floppy disks, hard disks, magneto optical disks, compact disc (such as CD-ROM, CD-R, CD-RW, DVD-ROM,
• the program codes can be downloaded from a server computer via communication networks.
• the functions of any one of the abovementioned embodiments can be performed not only by executing the program codes read by the computer but also by enabling the operation system operated on the computer, etc. to perform a part of or all of the actual operations based on the instructions of the program codes.
• the program codes read from the storage medium are written into the memory pro ⁇ vided in an extension board within the computer or written into the memory provided in an extension unit connected to the computer, afterwards a part of or all of the actual op ⁇ erations will be performed by the CPU, etc. mounted in the extension board or the extension unit based on the instruc ⁇ tions of the program codes so as to perform the functions of any one of the abovementioned embodiments.
• the lifting machine when releasing a cage, the lifting machine is a controller, according to the withdrawal status of the latches above or below the stop blocks for fixing, for automatically completing the coordinating movement upwards or downwards and performing a normal move ⁇ ment to the destination position thereof.
• the method and de ⁇ vice of the present invention can significantly enhance the operational efficiency of the lifting machine, have good sa- fety monitoring of the cage locking system so as to avoid hu ⁇ man operation errors, have quite high safety performance, and at the same time reduce the braking wearing therein.
• the shaft operator only needs to carry out the same operation once without sending out a coordinating movement signal in three different scenarios (all of the lat ⁇ ches above the stop blocks for fixing have been withdrawn, all of the latches therebelow have been withdrawn, and all of the latches thereabove and therebelow have been withdrawn) , i.e. it only needs to send a normal start instruction once to the lifting machine operator without taking the scenario which the cage locking device is in into account.
• the lifting machine operator also only needs to operate the lifting machine once, and the lifting machine can automati ⁇ cally complete the coordinating movement as required and per- form the normal movement to the destination position thereof by releasing and applying the braking for one time. It is unnecessary for the shaft operator to send out an instruction twice to the lifting machine operator, the lifting machine operator also need not operate twice, and the lifting machine need not release and apply braking twice, i.e. without carry ⁇ ing out movement twice.
• the operational efficiency of the lifting machine is significantly enhanced, there is good sa ⁇ fety monitoring of the cage locking system so as to avoid hu- man operation errors, there is quite high safety performance, and at the same time the braking wearing therein is reduced, and a lifting machine can automatically release the cage lo ⁇ cking device after a loading/unloading is completed at a shaft level and to automatically operate to the next shaft level destination position.

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• Elevator Control (AREA)
• Control And Safety Of Cranes (AREA)
• Apparatus For Radiation Diagnosis (AREA)
• Types And Forms Of Lifts (AREA)

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• 2011
  • 2011-03-16 CN CN201110062325.9A patent/CN102674125B/zh active Active
• 2012
  • 2012-03-12 RU RU2013146026/11A patent/RU2597052C2/ru active
  • 2012-03-12 WO PCT/EP2012/054244 patent/WO2012123397A1/en active Application Filing
  • 2012-03-12 CA CA2830114A patent/CA2830114C/en active Active

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