CN105129656A - Hoisting machinery braking method and hoisting machinery braking device - Google Patents
Hoisting machinery braking method and hoisting machinery braking device Download PDFInfo
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- CN105129656A CN105129656A CN201410249994.0A CN201410249994A CN105129656A CN 105129656 A CN105129656 A CN 105129656A CN 201410249994 A CN201410249994 A CN 201410249994A CN 105129656 A CN105129656 A CN 105129656A
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Abstract
The invention discloses a hoisting machinery braking method which is used for detecting the braking effect in the working process and can prevent hook gliding from happening to hoisting machinery. The method includes the following steps that the change amount of a rotating shaft of a motor is obtained after braking is started; whether the change amount is larger than a preset change amount threshold value or not is judged one or more times; if the change amount is larger than the preset change amount threshold value, the motor is controlled to output the torque for making a load instantly suspended, and the current change amount of the rotating shaft of the motor is obtained again; braking is finished if the change amount is not larger than the preset change amount threshold value; when the preset number of braking times is achieved, if the change amount is larger than the preset change amount threshold value, the motor is controlled to output the torque for making the load suspended, and braking is finished if the change amount is not larger than the preset change amount threshold value; and after the braking time is larger than the preset time threshold value and the change amount is smaller than the change amount threshold value, braking is finished. By means of the process of the multiple times of judgment, the problem that braking signals and braking actions are not synchronous due to mechanical matching or electrical faults can be solved, and misjudgment is not prone to happening.
Description
Technical field
The present invention relates to neck elevator machinery field, particularly, relate to the elevator machinery brake equipment of a kind of elevator machinery braking method and use the method.
Background technology
Hoisting crane is a kind of common mechanical equipment, in the multiple industry of widespread use, as building, production, transport etc., to replace a dead lift, has work efficiency high, has safe advantage simultaneously concurrently, thus for promoting that solid foundation has been established in socio-economic development.But in the operational process of hoisting crane, due to mechanical breakdown or the electrical accident of drg, usually there will be and slip hook phenomenon, namely drg can not be braked in time, therefore may cause the physical damage of lifting, even human safety issues.
More existing anti-slip hook equipment are more additional accessory equipments in drg side, occurring protecting when slipping hook accident.But such method, not only makes job costs significantly increase, and cannot guarantee stability and the validity of anti-slip hook.
For this problem, Chinese patent literature CN103663225A discloses a kind of guard method of misfunctioning of brake, fender guard, protection system and hoisting crane, comprising:
Acquisition hoists action Setting signal and the action run signal that hoists;
When hoist described in not getting action Setting signal but hoist described in getting action run signal time, export the action protection signal that hoists;
According to the described action protection signal that hoists, start the gear action of lifting motor according to setting.
When hoist described in not getting action Setting signal but hoist described in getting action run signal time, go back output alarm control signal;
Start annunciator according to described alarm control signal to report to the police.
In the misfunctioning of brake guard method of this patent documentation, whether synchronously determine whether drg lost efficacy, and this method exists following defect by detecting the action run signal that hoists with the action Setting signal that hoists:
In the misfunctioning of brake guard method of this patent documentation; control the lifting of elevator machinery by performing the many groups rise and fall gear preset after judging misfunctioning of brake; when easy fall-out bodies such as load brick and tile, just easily cause the danger of rocking and then dropping, practicality is not strong.
In the misfunctioning of brake guard method of this patent documentation; have a lot in the reason receiving the actuating signal that hoists not reciprocity with the Setting signal time that hoists; the speed-slackening signal caused as electrical accident, mechanical matching problem and the nonsynchronous problem of braking maneuver; all can be judged to be misfunctioning of brake when adopting existing drg decision method to occur above-mentioned situation, affect elevator machinery and normally work.
In the misfunctioning of brake guard method of this patent documentation, depend on the operating experience of staff in operation, for the people that the elevator machinery operation age is lower, its learning cost is very high, if there is operation mistake, then may cause serious consequence.
Summary of the invention
To be solved by this invention is that after the misfunctioning of brake existed in existing elevator machinery braking method, the safety of elevator machinery cannot ensure, to drg, fail-ure criterion is not accurate enough and rely on manually-operated technical matters, so provide a kind of can ensure misfunctioning of brake after elevator machinery safety, to drg whether fail-ure criterion accurately and substantially without the need to artificial experience judge and the elevator machinery braking method of operation and the elevator machinery brake equipment for realizing described braking method.
To achieve these goals, the invention provides a kind of elevator machinery braking method, comprise the steps:
Obtain the variable quantity of machine shaft after braking starts;
Perform one or many to judge as follows: if variable quantity is greater than this variable quantity threshold value pre-set, then control motor and export the torque that load instantaneous is hovered, and then obtain the variable quantity of current motor rotating shaft, otherwise end of braking;
After reaching default number of times, if variable quantity is greater than this variable quantity threshold value pre-set, then controls motor and export the torque that load is hovered, otherwise end of braking;
The position that the variable quantity of described current motor rotating shaft once makes load instantaneous hover before being is zero point, calculates the variable quantity of distance as described current motor rotating shaft of current location and zero position.
Described variable quantity is the angle variable quantity of electric machine main shaft or its driven shaft.
Described angle variable quantity is variation in angular displacement amount or cireular frequency variable quantity.
Perform 2-3 above-mentioned judgement.
Described processing unit controls the process that motor exports the torque that load is hovered, and comprising: described processing unit, according to the sense of motion of machine shaft before braking, controls motor reversal to export rightabout torque, load is hovered.
The process of the variable quantity of described acquisition machine shaft after braking starts, comprising:
With the position of the machine shaft detected after sending arrester close order for zero point, the variable quantity after the distance calculating current location and zero position starts as described braking.
Brake unit, performs braking after receiving brake command,
Detecting unit, obtains the variable quantity of machine shaft after braking starts;
Control unit, comprising:
Circulation subelement: perform one or many and judge as follows: if variable quantity is greater than this variable quantity threshold value pre-set, then control motor and export the torque that load instantaneous is hovered, and then obtain the variable quantity of machine shaft, otherwise end of braking;
Hovering exports subelement: after reaching default number of times, if variable quantity is greater than this variable quantity threshold value pre-set, and processing unit controls motor and exports the torque that load is hovered, otherwise end of braking;
End of braking subelement: after being greater than preset time threshold when braking, when described variable quantity is less than this variable quantity threshold value, end of braking.
Described control unit is frequency converter or servo-driver, and described acquiring unit is coder.
Described coder associates with electric machine main shaft or its driven shaft and arranges, to detect angular transposition or the cireular frequency of electric machine main shaft or its driven shaft.
In described circulation subelement, perform twice above-mentioned deterministic process.
Technique scheme of the present invention has the following advantages compared to existing technology:
(1) elevator machinery braking method of the present invention, judge as follows by performing one or many: if variable quantity is greater than this variable quantity threshold value pre-set, then control motor and export the torque that load instantaneous is hovered, and then obtain the variable quantity of current motor rotating shaft, otherwise end of braking; When one-shot change amount exceedes variable quantity threshold value, think it may is due to the misfunctioning of brake that machinery coordinates or electrical accident causes, therefore exporting instantaneous torque makes load instantaneous hover, after again obtain the variable quantity of machine shaft, when again exceeding variable quantity threshold value, then think what misfunctioning of brake caused, therefore, it is possible to it is asynchronous with braking maneuver and then cause the problem of erroneous judgement to get rid of speed-slackening signal, thus provides one and judge braking method accurately.
(2) elevator machinery braking method of the present invention, drg is judged as misfunctioning of brake after execution one or many judges, braking method of the present invention can control motor and export the instantaneous torque that load is hovered or the lasting torque keeping hovering, therefore, it is possible to ensure that when misfunctioning of brake elevator machinery can not slip hook accident, simultaneously staff can select to control motor and load put to ground when hovering, or load of hovering is investigated drg, not only ensure that safety, facilitate the further maintenance of staff simultaneously.
(3) elevator machinery braking method of the present invention, its automatic control load after judging whether to lose efficacy, losing efficacy hover and the process of signal automatic feedback process in all without the need to artificial interference, if misfunctioning of brake, the safety of hoist mechanism can be ensured without the need to manual operation, it is made to have more practicality, compared to the decision procedure relying on staff's working experience in prior art, also reduce the requirement to staff.
(4) elevator machinery brake equipment of the present invention, frequency converter or servo-driver, as the conventional control setup of elevator machinery, select it can not increase extra cost as control unit, and can save the advantage of accommodation space and cost.
(5) elevator machinery brake equipment of the present invention; it is when motor stalling; control unit is judged to enter braking mode automatically; therefore achieve under any circumstance; real-time monitoring and protection are carried out to hoist mechanism braking mode, adds safety and the practicality of this method further.
(6) elevator machinery brake equipment of the present invention, use coder to detect electric machine main shaft braking the accumulation angular displacement after starting and setting decision threshold, make decision method simple, directly perceived, compared to the method for common measuring and calculating braking straight-line distance, there is the advantage that precision is higher, error is little.
Accompanying drawing explanation
In order to make content of the present invention be more likely to be clearly understood, below in conjunction with accompanying drawing, the present invention is further detailed explanation, wherein,
Fig. 1 is the principle schematic of elevator machinery braking method in the embodiment of the present invention 1;
Fig. 2 is the principle schematic of elevator machinery brake equipment in the embodiment of the present invention 2.
Description of reference numerals:
1-control unit; 2-detecting unit; 3-brake unit; 4-motor; 11-circulation subelement; 12-end of braking subelement; 13-hovering exports subelement.
Detailed description of the invention
Below with reference to accompanying drawing, elevator machinery braking method of the present invention is described in detail.
Embodiment 1:
As shown in Figure 1, elevator machinery braking method, for detecting and preventing elevator machinery from slipping hook, a kind of elevator machinery braking method, comprises the steps:
Obtain the variable quantity of machine shaft after braking starts, variable quantity after braking starts refers at drg to be that band-type brake state acts on after on machine shaft, the variable quantity of machine shaft, variable quantity described as follows comprises: variation in angular displacement amount or cireular frequency variable quantity, if in the process of certain hour accumulation, the value of angular transposition or cireular frequency is greater than the threshold value according to actual elevator machinery own load situation setting, illustrates that drg does not play good braking effect in this process.
Perform one or many to judge as follows: if variable quantity is greater than this variable quantity threshold value pre-set, then control motor and export the torque that load instantaneous is hovered, and then obtain the variable quantity of current motor rotating shaft, otherwise end of braking.Perform and once judge it is in primary deterministic process, the variable quantity of machine shaft does not exceed threshold value, therefore, it is possible to judge that now drg is effective, therefore deterministic process is so far.And perform repeatedly judge it is that drg is judged as inefficacy in first time judges, and correspondence, machine shaft can export the torque that load instantaneous is hovered, described torque is the instantaneous torque that following control unit exports automatically according to load weight, the next time after load instantaneous hovering, load can continue motion under gravity, therefore by again gathering the variable quantity of machine shaft, can judge in this deterministic process, whether drg lost efficacy.This makes it possible to the speed-slackening signal problem asynchronous with braking maneuver avoided because electrical accident or mechanical matching problem cause, to get rid of erroneous judgement.
It will be appreciated that, judge that number of times can be artificial setting, be not limited in above-mentioned twice, in each deterministic process, motor all can export the instantaneous torque allowing load hover, and exporting the torque allowing load keep hovering after judging the last time, should be that those skilled in the art can understand, and after reaching default number of times, if variable quantity is greater than this variable quantity threshold value pre-set, then controls motor and export the torque that load is hovered, otherwise end of braking.
When each acquisition variable quantity, can pre-set a time threshold, after reaching this time threshold, current position and the distance of zero position are then the variable quantity that this obtains.After being greater than preset time threshold when braking, when described variable quantity is less than this variable quantity threshold value, illustrate that drg effectively and machine shaft can be held tightly and do not relatively rotate, therefore end of braking.
Preferably, 2-3 above-mentioned judgement is performed.
Below describe in detail in the present embodiment, the selecting of parameter in deterministic process:
Further, the position that the variable quantity of described current motor rotating shaft once makes load instantaneous hover before being is zero point, calculates the variable quantity of distance as described current motor rotating shaft of current location and zero position.
Further, described variable quantity is the angle variable quantity of electric machine main shaft or its driven shaft, coder can detect angle variable quantity accurately, and the rotating shaft of motor or its driven shaft easily keep relative in the course of the work fixes with coder, do not shake, therefore judge by what measure braking dropping distance the method whether drg lost efficacy compared in prior art, the mode by measuring machine shaft angle variable quantity described in the present embodiment is more accurate.
In addition, described angle variable quantity is variation in angular displacement amount or cireular frequency variable quantity, and the variable quantity of cireular frequency can characterize braking mode equally, therefore, it is possible to be applied to comparing with cireular frequency threshold value in the present embodiment, and then judges whether drg lost efficacy.
It will be appreciated that; the determination methods provided in the present embodiment is not limited to the variable quantity measuring machine shaft; measure the parameter that can characterize braking mode as measured braking dropping distance by sensor, steel cable is scribbled scale and measuring the modes such as angular acceleration, the mode that those skilled in the art can easily implement all should belong within protection scope of the present invention.
Particularly, described processing unit, according to the sense of motion of machine shaft before braking, controls motor reversal to export rightabout torque, load is hovered.
The process of the variable quantity of described acquisition machine shaft after braking starts, comprising:
With the position of the machine shaft detected after sending arrester close order for zero point, the variable quantity after the distance calculating current location and zero position starts as described braking.
Embodiment 2:
Provide the example of embody rule embodiment 1 scheme below.This programme mainly implements the tackling system in Frequency Converter Control, and does not need to add any external device, and necessary condition is that motor side has dress photoelectric encoder.Specific implementation step is:
1. tackling system enters real-time guard program after powering at once.
2. when normally hoist or transfer weight stop time, Frequency Converter Control decelerating through motor is shut down the lower frequency of arrival one and is run, and now sends arrester close order, the code device signal point position zero point received with now frequency converter.
3. if drg fault, weight still can fall after arrester close, now frequency converter can obtain the feedback signal of whereabouts by photoelectric encoder, after this signal accumulation crosses certain limit value, frequency converter output torque (can set) goes to hinder weight-drop, but in order to prevent the misoperation because mechanical mismatch error causes, motor output torque is that it is permanent to keep instantaneously for the first time.
4. if still can code device signal be detected after first time output torque, then, after being accumulated to same value range, frequency converter exports an instantaneous moment (can set) again, also as misoperation stabilization system state.
5. after second time moment exports, still monitor coder action, and this signal accumulation is to same value range, then frequency converter judges that drg lost efficacy, hook phenomenon of slipping occurs, then frequency converter will continue output vector zero-speed torque, the speed that weight declines is reduced to zero, and weight can be made to be parked in the air, wait for staff's maintenance.
The program in the present embodiment, detects judgement by three times and slips hook, by Multiple detection, prevent the misoperation because mechanical mismatch error causes, and can avoid slipping the generation of hook phenomenon completely, reduces hook accident of slipping, protection building site workman's safety of life and property.When this method can accomplish that drg is entirely ineffective, only use zero servo defencive function, can in non-overloading situation, hoist decline weight normally, do not slip hook.
Embodiment 3:
As shown in Figure 2, a kind of elevator machinery brake equipment realizing above-mentioned elevator machinery braking method, comprising:
Brake unit 3, performs braking after receiving brake command,
Detecting unit 2, obtains the variable quantity of machine shaft after braking starts;
Control unit 1, comprising:
Circulation subelement 11: perform one or many and judge as follows: if variable quantity is greater than this variable quantity threshold value pre-set, then control motor and export the torque that load instantaneous is hovered, and then obtain the variable quantity of machine shaft, otherwise end of braking;
Hovering exports subelement 13: after reaching default number of times, if variable quantity is greater than this variable quantity threshold value pre-set, and processing unit controls motor and exports the torque that load is hovered, otherwise end of braking;
End of braking subelement 12: after being greater than preset time threshold when braking, when described variable quantity is less than this variable quantity threshold value, end of braking.
Wherein said end of braking refers to thinks that drg is effective, and retrosequence terminates, and does not perform an action.
The working process of above-mentioned elevator machinery brake equipment is: brake unit 3 performs braking after receiving brake command, and obtaining the variable quantity of machine shaft after braking starts by detecting unit 2, the variable quantity detected is fed back to control unit 1 by detecting unit 2; And then, if circulation subelement 11 performs one or many judge that variable quantity is greater than this variable quantity threshold value pre-set as follows, then hovering output subelement 13 controls motor and exports the torque that load instantaneous is hovered, and then obtains the variable quantity of machine shaft, otherwise end of braking; When reaching preset times and change value is greater than variable quantity threshold value, control unit 1 controls motor and load is kept hovering; After being greater than preset time threshold when braking, described variable quantity is less than this variable quantity threshold value, then control unit 1 judges end of braking, then think that drg is effective, end of program does not perform an action.
Preferably, described control unit 1 is frequency converter or servo-driver, described acquiring unit 2 is coder, frequency converter or servo-driver are control setup conventional in elevator machinery, the benefit done like this is, when not increasing cost and increase takes up room, the function realizing brake equipment in the present embodiment that can be complete; Coder then can measure the value of angular transposition and cireular frequency accurately, and it can keep relative fixing with machine shaft or its driven shaft simultaneously, measures mode and measures parameter, have observed reading advantage more accurately compared to other described in embodiment 1.
Further, described coder associates with electric machine main shaft or its driven shaft and arranges, to detect angular transposition or the cireular frequency of electric machine main shaft or its driven shaft.
Finally, in described circulation subelement 11, preferred execution twice above-mentioned deterministic process, the deterministic process of twice circulation subelement, the speed-slackening signal can effectively avoiding machinery cooperation or electrical accident to cause and the nonsynchronous problem of braking maneuver, and then the judgement of whether to lose efficacy to drg is more accurate, avoids affecting normal work due to erroneous judgement.
Obviously, above-described embodiment is only for clearly example being described, the restriction not to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.And thus the apparent change of extending out or variation be still among the protection domain of the invention.
Claims (10)
1. an elevator machinery braking method, is characterized in that, comprises the steps:
Obtain the variable quantity of machine shaft after braking starts;
Perform one or many to judge as follows: if variable quantity is greater than this variable quantity threshold value pre-set, then control motor and export the torque that load instantaneous is hovered, and then obtain the variable quantity of current motor rotating shaft, otherwise end of braking;
After reaching default number of times, if variable quantity is greater than this variable quantity threshold value pre-set, then controls motor and export the torque that load is hovered, otherwise end of braking.
2. a kind of elevator machinery braking method according to claim 1, it is characterized in that: the variable quantity of described current motor rotating shaft is: the position once making load instantaneous hover in the past is zero point, calculate the variable quantity of distance as described current motor rotating shaft of current location and zero position.
3. elevator machinery braking method according to claim 1 and 2, is characterized in that: described variable quantity is the angle variable quantity of electric machine main shaft or its driven shaft.
4. elevator machinery braking method according to claim 3, described angle variable quantity is variation in angular displacement amount or cireular frequency variable quantity.
5. the elevator machinery braking method according to any one of Claims 1-4, is characterized in that: perform 2-3 above-mentioned judgement.
6. the elevator machinery braking method according to any one of claim 1 to 5, it is characterized in that: described control motor exports the process of the torque that load is hovered, comprise: according to the sense of motion of machine shaft before braking, control motor reversal to export rightabout torque, load is hovered.
7. a kind of elevator machinery braking method according to any one of claim 1 to 6, is characterized in that: the process of the variable quantity of described acquisition machine shaft after braking starts, comprising:
With the position of the machine shaft detected after sending arrester close order for zero point, the variable quantity after the distance calculating current location and zero position starts as described braking.
8. realize an elevator machinery brake equipment for the elevator machinery braking method described in any one of claim 1 to 7, it is characterized in that:
Brake unit, performs braking after receiving brake command,
Detecting unit, obtains the variable quantity of machine shaft after braking starts;
Control unit, comprising:
Circulation subelement: perform one or many and judge as follows: if variable quantity is greater than this variable quantity threshold value pre-set, then control motor and export the torque that load instantaneous is hovered, and then obtain the variable quantity of current motor rotating shaft, otherwise end of braking;
Hovering exports subelement: after reaching default number of times, if variable quantity is greater than this variable quantity threshold value pre-set, then control motor and export the torque that load is hovered, otherwise end of braking.
Elevator machinery brake equipment according to claim 8, is characterized in that, described control unit is frequency converter or servo-driver, and described detecting unit is coder.
9. elevator machinery brake equipment according to claim 9, is characterized in that: described coder associates with electric machine main shaft or its driven shaft and arranges, to detect angular transposition or the cireular frequency of electric machine main shaft or its driven shaft.
10. elevator machinery brake equipment according to claim 10, is characterized in that: in described circulation subelement, performs twice above-mentioned deterministic process.
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| CN201410249994.0A CN105129656B (en) | 2014-06-06 | 2014-06-06 | A kind of hoisting machinery braking method and hoisting machinery brake apparatus |
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| CN201410249994.0A CN105129656B (en) | 2014-06-06 | 2014-06-06 | A kind of hoisting machinery braking method and hoisting machinery brake apparatus |
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| CN105129656B CN105129656B (en) | 2017-12-12 |
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Cited By (4)
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| CN108706481A (en) * | 2018-06-15 | 2018-10-26 | 廊坊中建机械有限公司 | Suspension hook Hovering control method, apparatus and frequency converter |
| CN111039132A (en) * | 2019-12-25 | 2020-04-21 | 徐州中矿大传动与自动化有限公司 | Method and device for safe parking control of lifting system |
| CN112570467A (en) * | 2019-09-27 | 2021-03-30 | 上海宝信软件股份有限公司 | Anti-slip control method and system suitable for vertical loop |
| CN113501425A (en) * | 2021-08-10 | 2021-10-15 | 上海共久电气有限公司 | Method for realizing rapid detection and protection of crane hook |
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| CN105129656B (en) | 2017-12-12 |
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Address after: 518110 Guangdong Province, Shenzhen city Longhua District Guanlan community Daping Jiayi Industrial Park No. 2-1 Patentee after: Shenzhen Alfa Electric Technology Co., Ltd. Address before: 518057 Guangdong Shenzhen city Nanshan District science and Technology Park, North District new West Road, 5 Galaxy Fengyun mansion 5 building 501 Patentee before: Shenzhen Alpha Inverter Technology Co., Ltd. |
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