WO2017092959A1 - Method for actuating a hoist, hoist, and control device for actuating a hoist drive - Google Patents
Method for actuating a hoist, hoist, and control device for actuating a hoist drive Download PDFInfo
- Publication number
- WO2017092959A1 WO2017092959A1 PCT/EP2016/076500 EP2016076500W WO2017092959A1 WO 2017092959 A1 WO2017092959 A1 WO 2017092959A1 EP 2016076500 W EP2016076500 W EP 2016076500W WO 2017092959 A1 WO2017092959 A1 WO 2017092959A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- carrier
- drive
- loading
- rope
- unloading
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
- B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
-
- 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
- B66B17/26—Applications of loading and unloading equipment for loading or unloading mining-hoist skips
Definitions
- the invention relates to a method for driving a carrier, in particular for a hoisting plant to collectively ⁇ tung a drive with an associated Steuervorrich-, a cable support, at least one hauling cable and Minim ⁇ least a valve disposed on the conveyor cord conveyor vessel for Vertika ⁇ len transport of material to be conveyed.
- the invention further relates to a carrier and a control device for controlling the ⁇ drive of a carrier.
- Such a conveyor goes e.g. from the
- a shaft conveyor system which has a motor connected to a Mo ⁇ tor sheave, which leads a hoisting rope for funding. Furthermore, the shaft ⁇ conveyor system is equipped with at least one pulse counter, which derived from the rotational movement of a current
- Wegwert and a current speed value of the conveyor ⁇ means determined. Furthermore, the shaft conveyor system is controlled and / or monitored by means of an electrical automation system, wherein the automation system for operation has a digital speed controller for calculating setpoints for a control of the motor.
- the hauling cable due to the increase in weight of winninggefä ⁇ SLI extends partially up to 1.5 m or more. This value depends on the length of the rope, the payload and the number of hoisting ropes. Basically, it is the goal of all manufacturers of carriers to keep the loading time as short as possible. Therefore, the stretching of the hoisting rope during operation of the conveyor system takes place within a period of a few seconds instead of.
- the invention is therefore based on the object to ensure a height compensation of a delivery vessel during loading and unloading of the delivery containers of a carrier.
- the object is achieved by a method for driving a carrier, in particular for a shaft conveyor system, comprising a drive with a ⁇ parent control device, a cable carrier, at least one hoist rope and at least one arranged on the hoist conveyor for conveying vertical conveyed, wherein during the Loading or unloading of at least one För ⁇ dergefäßes the drive remains turned on and Kompensa ⁇ tion of a change in the length of the feed rope, a rotation angle of the cable carrier is continuously adjusted based on a predetermined Drehwinkelver ⁇ run.
- a carrier in particular for a shaft conveyor, comprising a drive with a control device suitable for carrying out such a method.
- the object is finally achieved according to the invention by ei ⁇ ne control device for driving a drive of a carrier, in particular for a shaft conveyor, ge ⁇ suitable for carrying out such a method.
- the invention is based on the consideration that a verti ⁇ cal offset of a bucket relative to the loading position due to the elongation of the hoisting rope can be compensated by the bucket is moved at the appropriate speed in the direction of the drive.
- the bucket can be moved away from the drive, since the hoisting rope contracts again due to the ever decreasing load.
- a manipulated variable for the control of the carrier while a rotation angle, or a speed setpoint of the cable carrier is set so that the delivery cable length is varied by the rotation of the cable carrier.
- the bucket remains in its opti ⁇ paint loading position and does not stimulate vertical vibration.
- a mechanical brake device is not applied, so that wear of the brake elements is avoided.
- dead times resulting from the imposition and release of the braking device are avoided, and the duration of the delivery cycle is reduced.
- the rotation angle course of the cable carrier required for this compensation process is predetermined and deposited.
- a speed setpoint curve is behind ⁇ sets, based on a target torque curve is calculated, which is imposed on the drive during the loading or unloading on ⁇ .
- the drive in turn controls the cable carrier with respect to a change in the angle of rotation.
- the method is characterized in particular by precise setpoints and easy retrofitting and calibration.
- Another advantage is that the target torque (holding torque) is built up relatively slowly. The torque build-up occurs evenly within 20 to 30 seconds (for comparison, the torque build-up during the
- Opening the brake device is i.d.R. in about 200 msec).
- the shock load for both the electrical system (transformer, inverter, motor) and for the mechanical components of the carrier is lower.
- the rotational angle curve is determined by a braking device of the bingoma ⁇ machine is operated initially at the loading or unloading of the at least one conveying vessel a change of the conveying cable length is measured and the rotational angle course for the rope ⁇ carrier is calculated.
- the vertical.99gefäß ⁇ offset by the drive in the context of a controlled movement without the installation of additional sensors that measure the actual values of the carrier compensated. This method is applicable to most carriers, since the loading process is usually always the same and the loading is approximately linear.
- the measurement of the change in the length of the conveyor takes place during installation or maintenance work. It is thus not a continuous determination of the offset of the vessels required, but the balancing Angle of rotation is determined directly or indirectly, ie as such or other associated with him characteristics and parameters, for example, once during commissioning of För ⁇ dermaschine and deposited. At a later date during maintenance and repair work on the machine redesignma ⁇ The sampled data can be recalibrated.
- a first measured value for the change of the feed rope length during loading of the at least one delivery vessel is preferably measured, then a second measured value for the change of the delivery rope length during unloading of the at least one delivery vessel is measured and at Deviations between the two measured values are defined as the mean value of both measured values as a change in the length of the conveyor rope to be compensated.
- the carrier has at least two delivery vessels and the compensation of the change in the delivery rope length is carried out for all delivery vessels.
- the carrier has at least two delivery vessels and the compensation of the change in the delivery rope length is carried out for all delivery vessels.
- the carrier has two delivery vessels and the loading of one of the delivery vessels and the unloading of the other delivery vessel take place simultaneously.
- the carrier has a drive 4, which is controlled by a control device 6.
- the winningma ⁇ machine 2 includes in the embodiment shown also a cable carrier 8, which is driven by the drive 4, and a hoist rope 10 with two transport vessels 12, 14 for the vertical transport of not shown here in detail conveyed, eg coal or ore.
- the conveying vessels 12, 14 can also be used to transport people.
- the carrier 2 is in this case suitable for the transport of För ⁇ dergut between 200 m and 4000 m in a shaft not shown in detail ⁇ th.
- the conveying vessels 12, 14 are usually loaded alternately at a lower breakpoint H2 in the shaft, conveyed upwards and unloaded at a higher holding point Hi.
- the cable carrier 8 is rotated by the drive 4 still switched on during the unloading process so that the conveying vessel 12 moves away from the conveyor vessel 12 at the same speed with which the conveying vessel 12 moves "upwards" cable carrier is shut down. 8 this purpose, the drive 4 remains active during the Beiadens or discharging. in particular ⁇ sondere a braking device of the hoisting machine 2 is not shown in detail here is not operated. the control device 6 acts upon the drive 4 continuously with a mecanic ⁇ agreed target torque, which rotation of the Seilträ ⁇ gers 8 causes. the movement of the cable carrier 8 is illustrated in the figure by the angle. the rotation of the cable carrier 8 by the angle that during unloading in spite of the increasingly shorter rope 10, the bucket 12 will cause always remains in the same vertical position Hi.
- the rope elongation on the side of the loading vessel 14 to be loaded is compensated by moving the conveying vessel 14 at the appropriate speed in the direction of the cable carrier 8 while the drive 4 is still active.
- the result of this compensation movement of the cable carrier 8 is that the conveying vessel 14 also remains in the same vertical position H2 during the entire loading process.
- both conveying vessels 12, 14 are loaded or unloaded in parallel, therefore, a rotation of the Seilongs 8 by the angle sufficient to simultaneously compensate for the changes in the feed rope length on both sides of the cable carrier 8.
- the nominal torque will possibly change its direction during this process.
- the hoisting rope 10 expands by about 1 meter per 1000 m rope length.
- the loading takes about 0.5 to 1 sec per ton.
- the carrier 2 having a Ge ⁇ speed of about 0.05 m / sec moves loading for about 20 seconds.
- the drive 4 is actuated alternately in order to compensate for the respective vertical offset of the conveying vessel which is currently in use.
- both the elongation and the relaxation of the hoisting rope 10 with respect to a bucket 12, 14 is measured, it may happen that due to the different height Hi, H2 of the bucket during loading and unloading the extension and the relaxation of the hoisting rope differ from each other , Therefore, in particular a first measured value for changing the length of the conveyor rope during loading is measured, then a second measured value for changing the length of the conveyor rope during unloading is measured and if there are deviations between the two measured values, the mean value of both measured values is formed and considered as the value to be compensated.
- the required for the compensation of the change in the length of the hoisting rope 10 rotation angle is determined once or at longer intervals of several hundred hours of operation and deposited for the normal operation of the conveyor 2 in the form of parameters for Wegereglung the carrier 2.
- first the elongation of the hoisting rope 10 measured. The measurement can be done during the loading process. Additionally or alternatively, the contraction of the hoisting rope 10 during the unloading process can be measured. Due to the information on the elongation of the rope 10 through the loading and / or unloading a speed setpoint curve is determined (path over time) in the illustrated execution ⁇ for example, which forms the basis for the Antriebssteue ⁇ tion during operation of the hoisting machine. 2 Due to the Ge ⁇ schwindtechnikssollwertkurve the course of the desired torque for the drive 4 is calculated by the control device 6, which is imposed in operating on the actuator. 4
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control And Safety Of Cranes (AREA)
- Control Of Conveyors (AREA)
- Cage And Drive Apparatuses For Elevators (AREA)
Abstract
Description
Claims
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
RSP20191304 RS59438B1 (en) | 2015-12-02 | 2016-11-03 | Method for controlling a hoisting machine, hoisting machine and control device for controlling a drive of a hoisting machine |
LT16797768T LT3365262T (en) | 2015-12-02 | 2016-11-03 | Method for controlling a hoisting machine, hoisting machine and control device for controlling a drive of a hoisting machine |
EP16797768.5A EP3365262B1 (en) | 2015-12-02 | 2016-11-03 | Method for controlling a hoisting machine, hoisting machine and control device for controlling a drive of a hoisting machine |
AU2016363478A AU2016363478B2 (en) | 2015-12-02 | 2016-11-03 | Method for actuating a hoist, hoist, and control device for actuating a hoist drive |
CN201680070349.XA CN108290717B (en) | 2015-12-02 | 2016-11-03 | Elevator driving and controlling method, elevator and control device for driving and controlling elevator driver |
RU2018120354A RU2700906C1 (en) | 2015-12-02 | 2016-11-03 | Method for lifting machine control, lifting machine and control device for hoist machine control |
PL16797768T PL3365262T3 (en) | 2015-12-02 | 2016-11-03 | Method for controlling a hoisting machine, hoisting machine and control device for controlling a drive of a hoisting machine |
CA3006961A CA3006961C (en) | 2015-12-02 | 2016-11-03 | Method for actuating a hoist, hoist and control device for actuating a hoist drive |
ZA2018/03558A ZA201803558B (en) | 2015-12-02 | 2018-05-29 | Method for actuating a hoist, hoist, and control device for actuating a hoist drive |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP15197467.2A EP3176122A1 (en) | 2015-12-02 | 2015-12-02 | Method for controlling a conveyor machine, conveyor machine and control device for controlling a drive of a conveyor machine |
EP15197467.2 | 2015-12-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017092959A1 true WO2017092959A1 (en) | 2017-06-08 |
Family
ID=55022255
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2016/076500 WO2017092959A1 (en) | 2015-12-02 | 2016-11-03 | Method for actuating a hoist, hoist, and control device for actuating a hoist drive |
Country Status (10)
Country | Link |
---|---|
EP (2) | EP3176122A1 (en) |
CN (1) | CN108290717B (en) |
AU (1) | AU2016363478B2 (en) |
CA (1) | CA3006961C (en) |
LT (1) | LT3365262T (en) |
PL (1) | PL3365262T3 (en) |
RS (1) | RS59438B1 (en) |
RU (1) | RU2700906C1 (en) |
WO (1) | WO2017092959A1 (en) |
ZA (1) | ZA201803558B (en) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3158228A (en) * | 1961-07-18 | 1964-11-24 | Anglo Amer Corp South Africa | Rope stretch compensator for suspended conveyances in mine hoisting equipment |
DE102004058757A1 (en) * | 2004-12-06 | 2005-07-07 | Siemens Ag | Shaft or mine shaft transport system has a system of impulse counters linked to a digital control system that is used to determine the amount of cable paid out and the speed of travel and position of cabins within the shaft |
US20050230192A1 (en) * | 2004-04-16 | 2005-10-20 | Brant John S | Method and apparatus for improving the leveling performance of an elevator |
JP2010208752A (en) * | 2009-03-09 | 2010-09-24 | Toshiba Elevator Co Ltd | Elevator device |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11255452A (en) * | 1998-03-12 | 1999-09-21 | Toshiba Fa Syst Eng Corp | Guide device for elevator compensating rope |
KR100406871B1 (en) * | 2003-01-11 | 2003-12-03 | Jeong Du Choi | Device for equalizing rope tension of elevator |
CN100436298C (en) * | 2003-05-30 | 2008-11-26 | 奥蒂斯电梯公司 | Tie-down compensation structure for an elevator system |
WO2009108186A1 (en) * | 2008-02-26 | 2009-09-03 | Otis Elevator Company | Dynamic compensation during elevator car re-leveling |
CN102398834A (en) * | 2010-09-11 | 2012-04-04 | 鲁继成 | Direct connection type hydraulic rope regulator |
CN104995117B (en) * | 2013-02-04 | 2017-04-12 | 因温特奥股份公司 | Compensation element with blocking device |
CN104140019B (en) * | 2014-07-07 | 2017-05-03 | 日立电梯(中国)有限公司 | Control device and control method of elevator lift car position |
-
2015
- 2015-12-02 EP EP15197467.2A patent/EP3176122A1/en not_active Withdrawn
-
2016
- 2016-11-03 CA CA3006961A patent/CA3006961C/en active Active
- 2016-11-03 CN CN201680070349.XA patent/CN108290717B/en active Active
- 2016-11-03 PL PL16797768T patent/PL3365262T3/en unknown
- 2016-11-03 LT LT16797768T patent/LT3365262T/en unknown
- 2016-11-03 AU AU2016363478A patent/AU2016363478B2/en not_active Withdrawn - After Issue
- 2016-11-03 RU RU2018120354A patent/RU2700906C1/en active
- 2016-11-03 EP EP16797768.5A patent/EP3365262B1/en active Active
- 2016-11-03 WO PCT/EP2016/076500 patent/WO2017092959A1/en active Application Filing
- 2016-11-03 RS RSP20191304 patent/RS59438B1/en unknown
-
2018
- 2018-05-29 ZA ZA2018/03558A patent/ZA201803558B/en unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3158228A (en) * | 1961-07-18 | 1964-11-24 | Anglo Amer Corp South Africa | Rope stretch compensator for suspended conveyances in mine hoisting equipment |
US20050230192A1 (en) * | 2004-04-16 | 2005-10-20 | Brant John S | Method and apparatus for improving the leveling performance of an elevator |
DE102004058757A1 (en) * | 2004-12-06 | 2005-07-07 | Siemens Ag | Shaft or mine shaft transport system has a system of impulse counters linked to a digital control system that is used to determine the amount of cable paid out and the speed of travel and position of cabins within the shaft |
JP2010208752A (en) * | 2009-03-09 | 2010-09-24 | Toshiba Elevator Co Ltd | Elevator device |
Also Published As
Publication number | Publication date |
---|---|
RU2700906C1 (en) | 2019-09-23 |
AU2016363478A1 (en) | 2018-06-14 |
EP3365262A1 (en) | 2018-08-29 |
AU2016363478B2 (en) | 2019-07-04 |
CA3006961A1 (en) | 2017-06-08 |
EP3365262B1 (en) | 2019-08-28 |
ZA201803558B (en) | 2019-03-27 |
CN108290717A (en) | 2018-07-17 |
PL3365262T3 (en) | 2020-03-31 |
LT3365262T (en) | 2019-10-25 |
EP3176122A1 (en) | 2017-06-07 |
CA3006961C (en) | 2020-04-14 |
CN108290717B (en) | 2019-12-06 |
RS59438B1 (en) | 2019-11-29 |
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