WO2017101688A1 - 一种超深矿井提升机多绳协同控制系统试验台 - Google Patents

一种超深矿井提升机多绳协同控制系统试验台 Download PDF

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WO2017101688A1
WO2017101688A1 PCT/CN2016/108398 CN2016108398W WO2017101688A1 WO 2017101688 A1 WO2017101688 A1 WO 2017101688A1 CN 2016108398 W CN2016108398 W CN 2016108398W WO 2017101688 A1 WO2017101688 A1 WO 2017101688A1
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Prior art keywords
cage
wire rope
bracket
rope
control system
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PCT/CN2016/108398
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English (en)
French (fr)
Inventor
沈刚
朱真才
李翔
李戈
刘送永
曹国华
彭玉兴
李伟
周公博
卢昊
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中国矿业大学
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Priority to AU2016372743A priority Critical patent/AU2016372743B2/en
Priority to CA3008469A priority patent/CA3008469C/en
Publication of WO2017101688A1 publication Critical patent/WO2017101688A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B66B1/04—Control systems without regulation, i.e. without retroactive action hydraulic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B15/00—Main component parts of mining-hoist winding devices
    • B66B15/08—Driving gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0018—Devices monitoring the operating condition of the elevator system

Definitions

  • the invention relates to a test bench for a multi-rope cooperative control system of a hoist, in particular to a test bench for a multi-rope cooperative control system for an ultra-deep mine hoist.
  • the ultra-deep mine large-scale lifting equipment has become a key equipment for deep resource development.
  • China's research on the direction of upgrading equipment in ultra-deep mines has just started, which restricts the implementation of China's deep resource development and utilization strategy.
  • Due to the complicated working conditions of the ultra-deep mine and the special mining environment it is difficult to carry out on-site tests to upgrade the equipment. Therefore, in order to verify the performance of ultra-deep mine hoisting equipment and achieve the detection level of ultra-deep mine hoisting system, an ultra-deep mine hoisting system test rig capable of simulating the real situation is needed.
  • the test bench needs to simulate various working conditions in the working environment of the ultra-deep mine to achieve the purpose of effectively detecting the working performance of the lifting equipment, and ensuring that the lifting system can operate safely and reliably under complicated working conditions.
  • the object of the present invention is to provide a multi-rope coordinated control system test bench for ultra-deep mine hoist, which realizes the movement of the ultra-deep mine hoist under simulated actual working conditions, the tension on the wire rope, the pressure on the sky wheel and the lifting container.
  • the level of monitoring is carried out to ensure that the lifting system can operate safely and reliably under complex working conditions.
  • control system test bench comprises: four hydraulic motors and corresponding four rollers and four wire ropes, one steel structure bracket, four hinges, four servo hydraulic cylinders, four linear guides , four sky wheels, four sky wheel brackets, four pressure sensors, four tension sensors, one screw, one cage, four couplings, motor base, one oil pump;
  • the hydraulic motor is connected to the drum through a coupling, the steel wire rope is arranged on the drum, the steel wire rope is connected with the cage; the tension sensor is placed on the steel wire rope to detect the pulling force of the steel wire rope and the feedback signal; the servo hydraulic cylinder is fixed to the hinge, the upper end and the sky wheel bracket Connection, the sky wheel bracket is connected with a sky wheel; the sky wheel bracket is fixed on the linear guide rail, the hinge and the linear guide rail are connected on the steel structure bracket, the servo hydraulic cylinder drives the sky wheel to move up and down through the crown wheel bracket; the tension sensor is placed on the wire rope Detecting the tension of the wire rope, placing the pressure sensor on the sky wheel bracket, detecting the pressure received by the sky wheel, and feeding back the signal to the lower position machine; the screw is fixed above the cage, detecting whether the cage is horizontal, and feeding back the signal to the lower machine, the cage is located in the steel Inside the structural bracket, the hydraulic motor is mounted on the motor base.
  • the cage is a four-rope dragging method for lifting heavy cargo, and the arrangement is in accordance with actual working conditions.
  • the controller comprises: a control cabinet, a lower position machine, a conditioning box and a mobile power module; the lower position machine, the conditioning box and the mobile power module are all installed in the control cabinet, the oil pump is located on one side of the control cabinet; the upper machine and the lower position machine pass the ether
  • the network performs data transmission, and the control signal and the feedback signal are transmitted to the lower computer or the actuator through the conditioning box.
  • the test bench of the present invention vertically raises the cage by using a hydraulic motor that is easy to implement control, and is simple in operation and convenient for maintenance.
  • the test rig can realize a variety of functions, measuring the tension of the wire rope by the tension sensor; measuring the pressure of the sky wheel by the pressure sensor; monitoring the level of the cage by the screw; adjusting the height of the cage by controlling the positive and negative rotation of the hydraulic motor; controlling the servo
  • the hydraulic cylinder adjusts the level of the cage and maintains the same tension of the rope.
  • Figure 1 is a left side structural view of the present invention.
  • Fig. 2 is a front view showing the structure of the present invention.
  • Figure 3 is a top plan view of the present invention.
  • Embodiment 1 In FIG. 1 and FIG. 2, the control system test bench includes: four hydraulic motors 1 and corresponding four drums 2 and four steel cords 3, one set of steel structure brackets 4, four hinges 5, four servos Hydraulic cylinder 6, four linear guides 7, four balance wheels 8, four wheel brackets 9, four pressure sensors 10, four tension sensors 11, one screw 12, one cage 13, four couplings 14 , motor base 15, an oil pump 16;
  • the hydraulic motor 1 is connected to the drum 2 via a coupling 14, the drum 2 has a wire rope 3, and the wire rope 3 is connected to the cage 13; the tension sensor 11 is placed on the wire rope 3, the tension of the wire rope 3 is detected, and the signal is fed back; the servo cylinder 6 is fixed To the hinge 5, the upper end is connected with the crown wheel bracket 9, and the crown wheel bracket 9 is connected with the sky wheel 8; the crown wheel bracket 9 is fixed on the linear guide 7, and the hinge 5 and the linear guide rail 7 are connected to the steel structure bracket 4, and the servo
  • the hydraulic cylinder 6 drives the crown wheel 8 to move up and down through the crown wheel bracket 9; the tension sensor 11 is placed on the wire rope 3, the tension of the wire rope 3 is detected, and the pressure sensor 10 is placed on the crown wheel bracket 6, and the pressure received by the sky wheel 8 is detected and fed back.
  • the signal is sent to the lower machine 18; the screw 12 is fixed above the cage 13 to detect whether the cage 13 is horizontal, and the signal is fed back to the lower machine 18, the cage 13 is located in the steel structure bracket 4, and the hydraulic motor 1 is mounted on the motor base 15. .
  • the cage 13 is a four-rope dragging method for lifting heavy cargo, and the arrangement is in accordance with actual working conditions.
  • the controller comprises: a control cabinet 17, a lower computer 18, a conditioning box 19 and a mobile power module 20; the lower computer 18, the conditioning box 19 and the mobile power module 20 are all installed in the control cabinet 17, and the oil pump 16 is located in the control cabinet 17 One side; the upper computer and the lower computer 18 perform data transmission via Ethernet, and the control signal and the feedback signal are transmitted to the lower computer or the actuator through the conditioning box 19.
  • the tension sensor 11 is placed on the wire rope 3, detects the pulling force of the wire rope 3, and generates a tension signal; the pressure sensor 10 is placed on the crown wheel bracket 9 to detect the pressure received by the sky wheel 8 and generate a pressure signal; the screw 12 is fixed in the cage 13 Above, it detects whether the cage 13 is horizontal and generates a horizontal signal; the tension signal, the pressure signal and the horizontal signal, and the three sets of signal data are transmitted to the control board for closed-loop data processing.
  • the lifting and lowering of the cage 13 is realized by controlling the forward and reverse rotation of the four hydraulic motors 1.
  • the lifting and lowering of the cage can control the movement track by the cage rail, and the fine adjustment servo cylinder can adjust the lifting height of the cage 13.
  • the ultra-deep mine hoist multi-rope cooperative control system test bench fine-tuning the four servo hydraulic cylinders 6 under the sky wheel, can maintain the level of the cage and the same tensile force of the four steel cords 3.
  • the ultra-deep mine hoist multi-rope cooperative control system test bench, the conditioning box 19, the actuator and the pressure sensing The device 10, the tension sensor 11, and the screw 12 are all powered by the mobile power module 20.
  • the specific working process of the super-deep mine hoist multi-rope cooperative control system test bench at the beginning of the test, the upper computer and the lower computer 18 exchange data through Ethernet, and then adjust the speed of the hydraulic motor 1 through the conditioning box 19 to control the rotation of the hoist drum 2
  • the wire rope 3 is driven to move, and the cage 13 is controlled to rise and fall.
  • the pressure sensor 10, the tension sensor 11, and the screw 12 feed back the measurement data to the lower machine 18 through the conditioning box 19, and the data is converted, and then the expansion and contraction of the servo cylinder 6 is controlled by the conditioning box.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
  • Types And Forms Of Lifts (AREA)

Abstract

一种超深矿井提升机多绳协同控制系统试验台，属于提升机多绳协同控制系统试验台。液压马达（1）通过联轴器（14）与滚筒（2）连接，滚筒（2）上有钢丝绳（3），钢丝绳（3）与罐笼（13）连接；拉力传感器（11）放置到钢丝绳（3）上，检测钢丝绳拉力，并反馈信号；伺服液压缸（6）固定到铰链（5）上，上端与天轮支架（9）连接，天轮支架（9）上连接有天轮（8），天轮支架（9）固定在直线导轨（7）上，铰链（5）和直线导轨（7）连接在钢结构支架（4）上，伺服液压缸（6）通过天轮支架（9）带动天轮（8）上下运动；拉力传感器（11）放置到钢丝绳（3）上，检测钢丝绳（3）拉力，压力传感器（10）放置到天轮支架（9）上，检测天轮（8）受到的压力；螺旋仪（12）固定到罐笼（13）上方，检测罐笼（13）是否水平，罐笼（13）位于钢结构支架（4）内；液压马达（1）安装在马达底座（15）上。该试验台采用液压马达拖拽方式垂直提升罐笼，操作简单，便于维护。

Description

一种超深矿井提升机多绳协同控制系统试验台 技术领域
本发明涉及一种提升机多绳协同控制系统试验台，特别是一种超深矿井提升机多绳协同控制系统试验台。
背景技术
目前，随着我国将深部资源开发作为重要的发展战略，超深矿井大型提升装备成为实现深部资源开发的关键装备。然而，我国在超深矿井提升装备方向的研究刚起步，制约了我国深部资源开发利用战略的实施。而且，由于超深矿井实际工况复杂，开采环境特殊，提升装备很难进行现场试验。因此，为了验证超深矿井提升装备的工作性能，实现对超深矿井提升系统的检测水平，亟需一种能够模拟真实情况的超深矿井提升系统试验台。该试验台需要模拟超深矿井工作环境下的各种工作状态，以达到有效检测提升装备工作性能的目的，保证提升系统能够在复杂工况环境下安全可靠运行。
发明内容
本发明的目的是要提供一种超深矿井提升机多绳协同控制系统试验台，实现模拟实际工况下超深矿井提升机运动情况，对钢丝绳所受拉力、天轮所受压力以及提升容器的水平度进行监测，保证提升系统能够在复杂工况环境下安全可靠运行。
本发明的目的是这样实现的：控制系统试验台包括：四个液压马达及对应的四个滚筒和四根钢丝绳，一套钢结构支架，四个铰链，四个伺服液压缸，四个直线导轨，四个天轮，四个天轮支架，四个压力传感器，四个拉力传感器，一个螺旋仪，一个罐笼，四个联轴器，马达底座，一个油泵；
所述液压马达通过联轴器与滚筒连接，滚筒上有钢丝绳，钢丝绳与罐笼连接；拉力传感器放置到钢丝绳上，检测钢丝绳拉力，并反馈信号；伺服液压缸固定到铰链上，上端与天轮支架连接，天轮支架上连接有天轮；天轮支架固定在直线导轨上，铰链和直线导轨连接在钢结构支架上，伺服液压缸通过天轮支架带动天轮上下运动；拉力传感器放置到钢丝绳上，检测钢丝绳拉力，压力传感器放置到天轮支架上，检测天轮受到的压力，并反馈信号至下位机；螺旋仪固定到罐笼上方，检测罐笼是否水平,并反馈信号至下位机，罐笼位于钢结构支架内，所述的液压马达安装在马达底座上。
所述的罐笼采用四绳拖拽方式，用于提升较重货物，布置形式遵循实际工况。
所述的控制器包括：控制柜，下位机、调理箱和移动电源模块；下位机、调理箱和移动电源模块均安装在控制柜内，油泵位于控制柜一侧；上位机与下位机通过以太网进行数据传送，控制信号和反馈信号通过调理箱传给下位机或者执行机构。
有益效果：本发明的试验台采用易于实现控制的液压马达拖拽方式垂直提升罐笼，操作简单，便于维护。该试验台能够实现多种功能，通过拉力传感器测量提升钢丝绳张力；通过压力传感器测量天轮所受压力；通过螺旋仪监测罐笼的水平度；通过控制液压马达正反转，调整罐笼升降；控制伺服液压缸，调节罐笼的水平及保持绳的张力大小相同。
附图说明：
图1为本发明的左视结构图。
图2为本发明的主视结构图。
图3为本发明的俯结构视图。
图中，1、液压马达；2、滚筒；3、钢丝绳；4、钢结构支架；5、铰链；6、伺服液压缸；7、直线导轨；8、天轮；9、天轮支架；10、压力传感器；11、拉力传感器；12、螺旋仪；13、罐笼；14、联轴器；15、马达底座；16、油泵；17、控制柜；18、下位机；19、调理箱；20、移动电源。
具体实施方式
以下结合具体实施例，对本发明进行详细说明。
实施例1：图1和图2中，控制系统试验台包括：四个液压马达1及对应的四个滚筒2和四根钢丝绳3，一套钢结构支架4，四个铰链5，四个伺服液压缸6，四个直线导轨7，四个天轮8，四个天轮支架9，四个压力传感器10，四个拉力传感器11，一个螺旋仪12，一个罐笼13，四个联轴器14，马达底座15，一个油泵16；
液压马达1通过联轴器14与滚筒2连接，滚筒2上有钢丝绳3，钢丝绳3与罐笼13连接；拉力传感器11放置到钢丝绳3上，检测钢丝绳3拉力，并反馈信号；伺服液压缸6固定到铰链5上，上端与天轮支架9连接，天轮支架9上连接有天轮8；天轮支架9固定在直线导轨7上，铰链5和直线导轨7连接在钢结构支架4上，伺服液压缸6通过天轮支架9带动天轮8上下运动；拉力传感器11放置到钢丝绳3上，检测钢丝绳3拉力，压力传感器10放置到天轮支架6上，检测天轮8受到的压力，并反馈信号至下位机18；螺旋仪12固定到罐笼13上方，检测罐笼13是否水平,并反馈信号至下位机18，罐笼13位于钢结构支架4内，所述的液压马达1安装在马达底座15上。
所述的罐笼13采用四绳拖拽方式，用于提升较重货物，布置形式遵循实际工况。
所述的控制器包括：控制柜17，下位机18、调理箱19和移动电源模块20；下位机18、调理箱19和移动电源模块20均安装在控制柜17内，油泵16位于控制柜17一侧；上位机与下位机18通过以太网进行数据传送，控制信号和反馈信号通过调理箱19传给下位机或者执行机构。
拉力传感器11放置到钢丝绳3上，检测钢丝绳3拉力，并产生拉力信号；压力传感器10放置到天轮支架9上，检测天轮8受到的压力，并产生压力信号；螺旋仪12固定在罐笼13上方，检测罐笼13是否水平,并产生水平信号；所述拉力信号、压力信号和水平信号，三组信号数据传送到控制板卡，进行闭环数据处理。
通过控制四个液压马达1的正反转来实现罐笼13的升降，罐笼的升降可以用罐笼导轨控制运动轨迹，微调伺服液压缸能够调整罐笼13的提升高度。
所述的超深矿井提升机多绳协同控制系统试验台，微调天轮下方的四个伺服液压缸6，可以保持罐笼的水平以及四根钢丝绳3所受的拉力相同。
所述的超深矿井提升机多绳协同控制系统试验台，调理箱19、执行机构及压力传感 器10，拉力传感器11，螺旋仪12均由移动电源模块20供电。
超深矿井提升机多绳协同控制系统试验台的具体工作过程：试验开始时上位机与下位机18通过以太网进行数据交换，然后通过调理箱19调节液压马达1转速，控制提升机滚筒2旋转，带动钢丝绳3运动，控制罐笼13升降，压力传感器10、拉力传感器11、螺旋仪12将测量数据通过调理箱19反馈给下位机18，经数据转换，然后通过调理箱控制伺服液压缸6的伸缩，形成闭环控制。

Claims (3)

  1. 一种超深矿井提升机多绳协同控制系统试验台，其特征是：控制系统试验台包括：四个液压马达(1)及对应的四个滚筒(2)和四根钢丝绳(3)，一套钢结构支架(4)，四个铰链(5)，四个伺服液压缸(6)，四个直线导轨(7)，四个天轮(8)，四个天轮支架(9)，四个压力传感器(10)，四个拉力传感器(11)，一个螺旋仪(12)，一个罐笼(13)，四个联轴器(14)，马达底座(15)，一个油泵(16)；
    所述液压马达(1)通过联轴器(14)与滚筒(2)连接，滚筒(2)上有钢丝绳(3)，钢丝绳(3)与罐笼(13)连接；拉力传感器(11)放置到钢丝绳(3)上，检测钢丝绳(3)拉力，并反馈信号；伺服液压缸(6)固定到铰链(5)上，上端与天轮支架(9)连接，天轮支架(9)上连接有天轮(8)；天轮支架(9)固定在直线导轨(7)上，铰链(5)和直线导轨(7)连接在钢结构支架(4)上，伺服液压缸(6)通过天轮支架(9)带动天轮(8)上下运动；拉力传感器(11)放置到钢丝绳(3)上，检测钢丝绳(3)拉力，压力传感器(10)放置到天轮支架(6)上，检测天轮(8)受到的压力，并反馈信号至下位机(18)；螺旋仪(12)固定到罐笼(13)上方，检测罐笼(13)是否水平,并反馈信号至下位机(18)，罐笼(13)位于钢结构支架(4)内。
  2. 根据权利要求1所述的一种超深矿井提升机多绳协同控制系统试验台，其特征是：所述的罐笼(13)采用四绳拖拽方式，用于提升较重货物，布置形式遵循实际工况。
  3. 根据权利要求1所述的一种超深矿井提升机多绳协同控制系统试验台，其特征是：所述的控制器包括：控制柜(17)，下位机(18)、调理箱(19)和移动电源模块(20)；下位机(18)、调理箱(19)和移动电源模块(20)均安装在控制柜(17)内，油泵(16)位于控制柜(17)一侧；上位机与下位机(18)通过以太网进行数据传送，控制信号和反馈信号通过调理箱(19)传给下位机或者执行机构。
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