WO2013060120A1 - Multi-winch synchronization control device and control method and crane comprising the device - Google Patents

Abstract

Disclosed are a multi-winch synchronization control device and method and a crane comprising the device. The device comprises: at least two winches (101, 102), each winch being driven by a motor (501, 502) and performing counting by using an encoder, each encoder being connected to a controller (102, 202), the controller being used for reading a current value of the encoder and subtracting an initial value from the current value to obtain a count difference of reel rotation; a comparator (301), having input ends connected to the controllers respectively, and used for comparing the count differences obtained by the different controllers; a synchronization controller (401), connected to an output end of the comparator, having output ends connected to the motors respectively, and used for adjusting the speed of each motor according to a comparison result of the controller; a synchronization control switch, used for starting synchronization control to synchronize multiple winches; and a power supply device, used for supplying power for the winches. The present invention is convenient to operate, safe and reliable, and the control device is simple.

Description

 Multi-winding synchronous control device and control method and crane comprising the same The application is filed on October 28, 2011, the Chinese Patent Office, the application number is 201110332901.7, and the invention name is "multi-winding synchronous control device and control method and includes The priority of the Chinese Patent Application for the Crane of the Apparatus, the entire contents of which is incorporated herein by reference.

Technical field

 The present invention relates to a synchronous control device, and in particular to a multi-winding synchronous control device and control method and a crane including the same.

Background technique

 At present, the modular design of various industries has become a trend, and the weight of the designed one piece is getting heavier and heavier. This puts new demands on the hoisting device of the crane. In order to be able to lift heavier components, it is necessary to adopt more Hoisting the way to complete the homework.

 For example, a component of a nuclear power project weighs several thousand tons, which makes the number of hoisting equipment hoisting gradually increase. Due to the use of multiple hoisting equipment, in order to ensure the safety of hoisting equipment and hoisting, the lifting weight is smoothly hoisted in place. Multi-winding synchronization control is especially important.

 Therefore, it is particularly important to provide a multi-winding synchronization control device and a control method capable of synchronizing a plurality of winches and ensuring that the hoisting weight is in place.

Summary of the invention

 The object of the present invention is to solve the above problems, and to design a multi-winding synchronous control device and a control method capable of synchronizing a plurality of winches and ensuring that the hoisting weight is in place smoothly, so as to avoid a safety hazard. Another object of the present invention is to provide a crane including the above control device.

 The invention discloses a multi-winding synchronization control device, which comprises:

 At least two winches, each of which is driven by a motor, each of which is counted by an encoder, each of which is coupled to a controller in a one-to-one correspondence, the controller being used to read the encoder The current value, and subtracting the current value from the initial value, that is, the difference in the count converted into the reel rotation;

a comparator, wherein the input ends are respectively connected to the controller, and are used for comparing the magnitudes of the count differences converted by different controllers, wherein the comparator output is connected to a synchronous controller, and the output ends of the synchronous controller are respectively connected a motor, the synchronous controller adjusts a speed of each motor according to a comparison result of the controller; a synchronous control switch for starting the synchronous controller;

 A power supply device for powering the hoist.

 In the above-described multi-winding synchronous control device, the power supply device includes a first engine and a second engine, and hydraulic oil passages of the two engines are connected in parallel.

 The multi-winding synchronization control device described above further includes a multi-speed selection switch for selecting a plurality of different powers. When the multi-speed selection switch is in the first gear position, the first engine is powered as a power source. When the multi-speed selector switch is in the second gear position, the second engine is powered as a power source, and when the multi-speed selector switch is in the third gear position, the first engine and the second engine simultaneously provide power as a power source.

 According to another aspect of the present invention, a control method of a multi-winding synchronization control device as described above is further disclosed, which comprises the following steps:

 Select the switch gear position;

 Select the sync switch to be active;

 The reel count value before each hoisting encoder is rotated is recorded and saved as an initial value.

 After the reel is rotated, the current value of the encoder is read, and the current value is subtracted from the initial value, that is, the count difference converted into the reel rotation;

 The hoisting speed is too fast, and the hoisting speed is too slow, so that the difference between the plurality of counting differences is less than the preset threshold.

 According to still another aspect of the present invention, a crane including the multi-winding synchronization control device described above is further disclosed, including:

 At least two power containers, one engine installed in each power container; several hoistings, symmetrically mounted on both sides of the crane;

 Each hoist is provided with an encoder and a controller;

 The cab is internally equipped with a synchronous control switch.

 The above crane, wherein the at least two power containers are respectively mounted on both sides of the crane.

 In the above crane, a plurality of selector switches are also provided in the cab.

 The advantages of the invention are:

1. Synchronous control with multiple winches, four-winding synchronization, three-winding synchronization and two-winding synchronization, which can be freely combined according to customer requirements; 2. The winch synchronization with the dual engine power system, the first power system winch synchronization, the second power system winch synchronization, the third power system winch synchronization;

 3. Easy to operate, control unit, and safe and reliable;

 4. With 4 reluctance, it can expand the multi-winding (n>=4, n is an integer) synchronization control.

DRAWINGS

 The invention and its features, aspects and advantages will become more apparent from the detailed description of the appended claims. The same reference numerals are used throughout the drawings to refer to the same parts. The drawings are not intended to be drawn to scale, and the emphasis is on the subject matter of the invention. In the attached drawings, some of the components are enlarged for clarity.

 1 shows a schematic diagram of an exemplary embodiment of multi-winding synchronization control in accordance with the present invention;

 Figure 2 shows a schematic view of a crane equipped with a synchronous control device in accordance with the present invention.

detailed description

 The present invention will be further described in detail below in conjunction with the drawings and specific embodiments. The specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention.

 Refer to Figure 1 for a schematic diagram of the connection of a main winch and another winch synchronous control. Specifically, the hoisting synchronization control device includes:

 At least two winches, such as a first winch 101, each of which is driven by a motor, referring to the first motor 501 of Figure 1, each of which is counted by an encoder (not shown in Figure 1), Each encoder is connected to a controller (refer to the first controller 102 in FIG. 1), the controller is used to read the current value of the encoder, and subtract the initial value from the current value, that is, converted into a reel rotation Count difference

 The comparator 301 has an input terminal for comparing the magnitudes of the difference values of the different controllers, and the output of the comparator 301 is connected to a synchronous controller 401, and the output of the synchronous controller 401 is respectively connected to each motor. The synchronization controller 401 adjusts the speed of each motor according to the comparison result of the controller 301;

 a synchronous control switch (not shown in Figure 1) for starting the synchronous controller;

 A power supply device (refer to the first engine 701 and the second engine 702 in Fig. 2) has an output connected to the at least two winches for powering the winch.

In a specific embodiment, the number of winches can be multiple, respectively, and one main winch Synchronization to achieve multi-rolling synchronization, FIG. 1 shows that the second hoist 201 is counted by the encoder, converted by the second controller 202 into a second count difference, and the comparator 301 will first hoist 101. After being counted by the encoder, the first count difference converted by the first controller 102 is compared with the second count difference, and the comparison result is sent to the synchronization controller 401. If the first count difference is large, the description If the speed of a roll is fast, the second roll 201 will be speeded up. Otherwise, the second roll 201 will be slowed down.

 More specifically, the power supply device includes two engines for providing different magnitudes of power, including: a first gear power driven by the first engine; a second gear power driven by the second engine; The third gear is driven by the first engine and the second engine at the same time. This provides three different power levels with two engines. In one variant, three different engines can be used to independently provide three different sizes of power and provide four-speed combined power.

 In a preferred embodiment, a multi-speed selector switch for selecting different gear positions of the multi-speed power is provided for facilitating operation of the control device of the present invention. The present invention employs two engines in parallel with the hydraulic oil circuit, each of which The engine is provided with an electromagnetic valve, and whether the passage is controlled by software, specifically, the gear position of the switch is first determined, and the corresponding electromagnetic valve is controlled according to the gear position of the switch, thereby realizing the corresponding power size. The skilled person can implement according to the prior art, and details are not described herein.

 Further, a multi-winding synchronization control method of the present invention is described below with reference to FIG. 1, which includes the following steps:

 Select the switch gear position to determine the power size, wherein the difference in power size does not affect the number of winch synchronizations;

 The synchronous switch is selected to be effective. Regardless of the power system, a synchronous control switch is used, and the operation cylinder is single and convenient;

 The reel count value before each hoisting encoder is rotated is recorded and saved as an initial value.

 After the reel is rotated, the current value of the encoder is read, and the current value is subtracted from the initial value, that is, the count difference converted into the reel rotation;

 If the speed is too fast, the hoisting speed is reduced, and the hoisting speed is too slow, so that the new counting difference can be read, so that the difference between the plurality of counting differences is less than the preset threshold, thereby achieving synchronization. Control method.

In a specific embodiment, the preset threshold is 100. In a preferred embodiment, after the step of selecting the synchronous switch is valid, a main winch is determined, and the rotational speed is used as a reference value for the other winch rotational speed. For example, referring to FIG. 1, the first winch 101 may be used as the main Hoisting, several other winches are referenced to the main hoisting speed, and the other hoisting and main hoisting are prioritized while keeping the main hoist as far as possible.

 Referring to FIG. 2, there is shown a crane including the multi-winding synchronization control device described above, which includes:

 At least two power containers (refer to the left power container 601 in FIG. 2), one engine is installed in each power container (refer to the first engine 701 in FIG. 2), and the first engine 701 and the second engine 702 are used not only for The hoisting provides power and also provides power to the crane for lifting and lifting.

 Several hoistings are symmetrically mounted on both sides of the crane. In Figure 2, four winches are shown, wherein the first hoisting 101 and the second hoisting 201 are mounted on the left side of the crane, and the third hoisting 301 And the fourth hoisting 401 is installed on the right side of the crane;

 Each of the winches is provided with an encoder and a controller (not shown in Fig. 2); a cab 901 is provided with a synchronous control switch so that the operator can perform synchronous control in the cab 901.

 Further, the at least two power containers are respectively installed on both sides of the crane. Referring to Fig. 2, the left power container 601 and the right power container 602 are symmetrically mounted on both sides of the crane.

 Further, a plurality of selector switches are provided in the cab 901 for selecting to start different engines. Such variations do not affect the substance of the present invention and will not be described herein.

 The preferred embodiments of the present invention have been described above. It is to be understood that the invention is not limited to the specific embodiments described above, and that the device and structure that are not described in detail are to be construed as being In the scope of the present invention, many possible variations and modifications may be made to the technical solutions of the present invention by using the methods and technical contents disclosed above, or modified to equivalent variations, which do not affect the substance of the present invention. Therefore, any content that does not depart from the technical solutions of the present invention is still within the scope of protection of the technical solutions of the present invention.

Claims

Rights request

 A multi-winding synchronization control device, comprising:

 At least two winches, each of which is driven by a motor, each of which is counted by an encoder, each of which is coupled to a controller in a one-to-one correspondence, the controller being used to read the encoder The current value, and subtracting the current value from the initial value, that is, the difference in the count converted into the reel rotation;

 a comparator, wherein the input ends are respectively connected to the controller, and are used for comparing the magnitudes of the count differences converted by different controllers, wherein the comparator output is connected to a synchronous controller, and the output ends of the synchronous controller are respectively connected a motor, the synchronous controller adjusts a speed of each motor according to a comparison result of the controller;

 a synchronous control switch for starting the synchronous controller;

 A power supply device for powering the hoist.

 The multi-winding synchronization control device according to claim 1, wherein the power supply device includes a first engine and a second engine, and hydraulic oil passages of the two engines are connected in parallel.

 3. The multi-winding synchronization control device according to claim 2, further comprising a multi-speed selection switch for selecting a plurality of different powers, wherein the multi-speed selection switch is in the first gear position, The first engine is powered as a power source, the second engine is powered as a power source when the multi-speed selector switch is in the second gear position, and the first engine and the second engine are in the third gear position when the multi-speed selector switch is in the third gear position The engine is also powered as a power source.

 A control method for a multi-winding synchronization control device according to any one of claims 1 to 3, comprising the steps of:

 Select the switch gear position;

 Select the sync switch to be active;

 The reel count value before each hoisting encoder is rotated is recorded and saved as an initial value.

 After the reel is rotated, the current value of the encoder is read, and the current value is subtracted from the initial value, that is, the count difference converted into the reel rotation;

 The hoisting speed is too fast, and the hoisting speed is too slow, so that the difference between the plurality of counting differences is less than the preset threshold.

The multi-rolling synchronization control method according to claim 4, wherein the preset threshold is 100.

The multi-winding synchronization control method according to claim 4, wherein after the step of selecting the synchronization switch is valid, a main winch is determined, and the rotation speed is used as a reference value of the other winding speed.

 A crane comprising the multi-winding synchronization control device according to any one of claims 1 to 3, characterized in that it comprises:

 At least two power containers, one engine installed in each power container; several hoistings, symmetrically mounted on both sides of the crane;

 Each hoist is provided with an encoder and a controller;

 The cab is internally equipped with a synchronous control switch.

 8. The crane according to claim 7, wherein the at least two power containers are respectively mounted on both sides of the crane.

 9. The crane according to claim 7, wherein a plurality of selector switches are further provided in the cab.