CN111348575A - Falling detection and protection device and method for gear rack transmission lifting mechanism - Google Patents

Falling detection and protection device and method for gear rack transmission lifting mechanism Download PDF

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Publication number
CN111348575A
CN111348575A CN201811579219.6A CN201811579219A CN111348575A CN 111348575 A CN111348575 A CN 111348575A CN 201811579219 A CN201811579219 A CN 201811579219A CN 111348575 A CN111348575 A CN 111348575A
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Prior art keywords
rack
motor
coaxial
terminal
encoder
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CN111348575B (en
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管朝鹏
王俊涛
王龙
秦华容
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Research Institute of Nuclear Power Operation
China Nuclear Power Operation Technology Corp Ltd
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Research Institute of Nuclear Power Operation
China Nuclear Power Operation Technology Corp Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/02—Devices, e.g. jacks, adapted for uninterrupted lifting of loads with racks actuated by pinions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/44—Devices, e.g. jacks, adapted for uninterrupted lifting of loads with self-contained electric driving motors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission Devices (AREA)

Abstract

The invention relates to a falling detection and protection device and a method of a rack and pinion transmission lifting mechanism, wherein the device comprises a motor component, a gear component, a terminal encoder, a lifting rack, a terminal encoding rack, a pneumatic band-type brake, a turntable, a motor coaxial band-type brake and a servo system; the method comprises the following steps: step 1, connecting a motor coaxial encoder signal to a servo system driver feedback interface, connecting a terminal encoder signal to a driver auxiliary feedback interface, and setting Ee(ii) a Step 2, the servo system drives a motor to operate, and drives a rotary disc to linearly move along the direction of a rack through gear transmission; step 3, detecting the real-time operation position of the motor by the signal of the motor coaxial encoderPut PCoaxial cableThe actual movement distance P of the signal detection gear of the terminal encoder on the rackTerminal device. The method for acquiring the actual position of the terminal based on the independent gear and the rack can accurately detect whether the gear-rack transmission mechanism has the broken teeth during operation.

Description

Falling detection and protection device and method for gear rack transmission lifting mechanism
Technical Field
The invention belongs to the field of nondestructive testing, and particularly relates to a falling detection and protection device and method for a rack and pinion transmission lifting mechanism.
Background
The gear rack lifting mechanism is applied to nondestructive testing equipment of a nuclear reactor pressure vessel, so that the requirement on the safety of the equipment in the using process is very high.
The problems of inevitable transportation and hoisting in the using and maintaining processes of the detection equipment, gear fatigue after long-time use and the like exist, and therefore the situation that broken teeth fall off in the long-time movement process can occur. In nuclear power nondestructive testing, many tested objects cannot be replaced or are extremely expensive in the whole life span of a nuclear power plant, so that high requirements are imposed on the safety of testing equipment.
Disclosure of Invention
The invention aims to: the method for detecting and protecting the broken tooth falling condition of the large-scale gear rack lifting mechanism in the movement process can greatly improve the application safety of large-scale structural equipment.
The technical scheme of the invention is as follows: a falling detection and protection device of a gear rack transmission lifting mechanism comprises a motor component, a gear component, a terminal encoder, a lifting rack, a terminal encoding rack, a pneumatic band-type brake, a rotary disc, a motor coaxial band-type brake and a servo system;
the motor assembly, the gear assembly, the pneumatic band-type brake and the motor coaxial band-type brake are arranged on the top of the turntable; the terminal coding rack and the lifting rack are arranged on the upright column in parallel; the terminal encoder is arranged on the turntable, and the output shaft of the terminal encoder is meshed with the teeth of the terminal encoding rack by adopting a pinion to realize position detection;
the gear assembly is a middle transmission component of the motor assembly and the lifting rack and is used for converting the rotary motion of the motor into the linear motion of the turntable in the axis direction of the upright post;
the motor component comprises a motor and a coaxial encoder arranged at the tail part of the motor;
the motor coaxial band-type brake is coaxially arranged at the output shaft end of the motor assembly and used for providing braking force when the motor assembly is not enabled so as to keep the position of the turntable in the vertical direction;
the pneumatic band-type brake compresses tightly on the axial guide rail of stand through compressed air's pressure when motor element and the coaxial band-type brake of motor all can't provide braking force and lead to the carousel gravity to fall to slow down the slew velocity.
The servo system comprises a driver and a controller; the driver is used for acquiring signals of a coaxial encoder of the motor assembly and a terminal encoder and controlling the actions of the motor assembly, the pneumatic band-type brake and the motor coaxial band-type brake through the I/O port; and the controller is used for receiving the information collected by the driver, analyzing and comparing the information, making a control decision and sending the control decision to the driver.
Furthermore, the terminal encoder is arranged at the bottom of the turntable.
Further, defining the position output value of the coaxial encoder on the motor component as PCoaxial cableTerminal encoder position output value is PTerminal deviceThe absolute value of the difference between the two encoders is Ep＝|PCoaxial cable-PTerminal deviceMaximum value of gear clearance error Ee。
Further, under the normal operation condition, the position output value P of the coaxial encoderCoaxial cableAnd a terminal encoder position output value PTerminal deviceError E ofpNot exceeding Ee。
Furthermore, if part of teeth of the gear or the rack are broken due to fatigue or impact in the operation process, the teeth cannot be meshed, and then the rotating disc falls, and the value P of the coaxial encoder of the motor assembly is obtained at the momentCoaxial cableWill be much smaller than the actual stroke of the turntable.
Furthermore, the terminal encoder detects the position through the terminal encoding rack, and the output value of the terminal encoder is the actual stroke of the turntable.
Further, if the absolute value of the encoder error EpIs far greater than the maximum value E of the gear clearance erroreAnd then, the gear rack is broken.
Furthermore, once the servo system detects that the rotary table falls, the pneumatic internal contracting brake is immediately controlled to act to slow down the falling speed of the rotary table.
Further, when the falling speed detected by the terminal encoder is lower than the braking safety value of the coaxial brake, the coaxial brake of the motor is started, and the integral braking of the rotary table is realized.
The invention discloses a falling detection and protection method of a gear rack transmission lifting mechanism, which is characterized in that the device comprises the following steps:
step 1, connecting a motor coaxial encoder signal to a servo system driver feedback interface, connecting a terminal encoder signal to a driver auxiliary feedback interface, and setting Ee；
Step 2, the servo system drives a motor to operate, and drives a rotary disc to linearly move along the direction of a rack through gear transmission;
step 3, detecting the real-time running position P of the motor by the signal of the motor coaxial encoderCoaxial cableThe actual movement distance P of the signal detection gear of the terminal encoder on the rackTerminal device；
Step 4, the driver transmits the collected information to the controller, and the controller detects whether the information is E or not in real timep＞Ee；
Step 5, once E is detectedp＞EeThe controller sends out an instruction, the driver opens the pneumatic band-type brake to tightly press the upright post guide rail, and the falling speed of the rotary table is reduced;
step 6, the controller detects P in real timeTerminal deviceWhether the opening coaxial braking requirement is reduced to be met or not;
and 7, the controller detects that the P terminal meets the requirement of starting coaxial braking, controls to send out an instruction, and the driver starts the coaxial brake and brakes the turntable through the transmission structure.
The invention has the following remarkable effects:
(1) the method for acquiring the actual position of the terminal based on the independent gear and rack can accurately detect whether the gear-rack transmission mechanism has a broken gear condition during operation;
(2) the two-stage braking mode after tooth breakage can avoid secondary damage risk during direct braking, so that stable and reliable safe braking is realized for equipment, and the safety performance of the equipment under an abnormal operating condition is greatly improved.
Drawings
Fig. 1 is a schematic structural view of a fall detection and protection device of a rack and pinion transmission lifting mechanism according to the present invention;
FIG. 2 is a schematic flow chart of a fall detection and protection method for a rack and pinion drive lifting mechanism according to the present invention;
in the figure: 1. the device comprises an upright post, a motor component 2, a gear component 3, a terminal encoder 4, a lifting rack 5, a terminal encoding rack 6, a pneumatic band-type brake 7, a rotary table 8 and a motor coaxial band-type brake 9.
Detailed Description
The fall detection and protection device and method for a rack and pinion transmission lifting mechanism according to the present invention will be described in further detail with reference to the accompanying drawings and embodiments.
As shown in fig. 1, a falling detection and protection device of a rack and pinion transmission lifting mechanism comprises a motor component 2, a gear component 3, a terminal encoder 4, a lifting rack 5, a terminal encoding rack 6, a pneumatic internal contracting brake 7, a rotary table 8, a motor coaxial internal contracting brake 9 and a servo system;
the motor component 2, the gear component 3, the pneumatic brake 7 and the motor coaxial brake 9 are arranged on the top of the turntable 8; the terminal coding rack 6 and the lifting rack 5 are arranged on the upright post 1 in parallel; the terminal encoder 4 is arranged on the rotary table 8, and the output shaft of the terminal encoder is meshed with the teeth of the terminal encoding rack 6 by adopting a pinion to realize position detection;
the gear assembly 3 is an intermediate transmission component of the motor assembly 2 and the lifting rack 5 and is used for converting the rotary motion of the motor into the linear motion of the turntable 8 in the axial direction of the upright post 1;
the motor component 2 comprises a motor and a coaxial encoder arranged at the tail part of the motor;
the motor coaxial brake 9 is coaxially arranged at the output shaft end of the motor component 2 and used for providing braking force when the motor component 2 is not enabled so as to keep the position of the turntable 8 in the vertical direction;
pneumatic band-type brake 7, when motor element 2 and the coaxial band-type brake 9 of motor all can not provide braking force and result in carousel 8 gravity to fall, compress tightly on the axial guide rail of stand 1 through compressed air's pressure to slow down the falling speed.
The servo system comprises a driver and a controller; the driver is used for acquiring signals of the coaxial encoder of the motor component 2 and the terminal encoder 4 and controlling the actions of the motor component 2, the pneumatic internal contracting brake 7 and the motor coaxial internal contracting brake 9 through the I/O port; and the controller is used for receiving the information collected by the driver, analyzing and comparing the information, making a control decision and sending the control decision to the driver.
Further, the terminal encoder 4 is installed at the bottom of the turntable 8.
Further, the position output value of the coaxial encoder on the motor component 2 is defined as PCoaxial cableThe output value of the position of the terminal encoder 4 is PTerminal deviceThe absolute value of the difference between the two encoders is Ep＝|PCoaxial cable-PTerminal deviceMaximum value of gear clearance error Ee。
Further, under the normal operation condition, the position output value P of the coaxial encoderCoaxial cableAnd a terminal encoder position output value PTerminal deviceError E ofpNot exceeding Ee。
Further, if some teeth of the gear or the rack are broken due to fatigue or impact in the operation process, the teeth cannot be meshed, and further the rotating disk 8 falls, at the moment, the coaxial encoder value P of the motor component 2Coaxial cableWill be much smaller than the actual stroke of the turntable 8.
Further, the terminal encoder 4 detects the position through the terminal encoding rack 6, and the output value is the actual stroke of the turntable 8.
Further, if the absolute value of the encoder error EpIs far greater than the maximum value E of the gear clearance erroreAnd then, the gear rack is broken.
Further, once the servo system detects that the rotary disc 8 falls, the pneumatic internal contracting brake 7 is immediately controlled to act to slow down the falling speed of the rotary disc 8.
Further, when the falling speed detected by the terminal encoder 4 is lower than the braking safety value of the coaxial brake, the coaxial brake 9 of the motor is started, and the integral braking of the rotary table 8 is realized.
As shown in fig. 2, a method for fall detection and protection of a rack and pinion transmission lifting mechanism is characterized in that the device of the invention comprises the following steps:
step 1, connecting a motor coaxial encoder signal to a servo system driver feedback interface, connecting a terminal encoder signal to a driver auxiliary feedback interface, and setting Ee；
Step 2, the servo system drives a motor to operate, and drives a rotary disc to linearly move along the direction of a rack through gear transmission;
step 3, detecting the real-time running position P of the motor by the signal of the motor coaxial encoderCoaxial cableThe actual movement distance P of the signal detection gear of the terminal encoder on the rackTerminal device；
Step 4, the driver transmits the collected information to the controller, and the controller detects whether the information is E or not in real timep＞Ee；
Step 5, once E is detectedp＞EeThe controller sends out an instruction, the driver opens the pneumatic band-type brake to tightly press the upright post guide rail, and the falling speed of the rotary table is reduced;
step 6, the controller detects P in real timeTerminal deviceWhether the opening coaxial braking requirement is reduced to be met or not;
and 7, the controller detects that the P terminal meets the requirement of starting coaxial braking, controls to send out an instruction, and the driver starts the coaxial brake and brakes the turntable through the transmission structure.

Claims (10)

1. The utility model provides a rack and pinion transmission hoist mechanism's detection and protection device that falls which characterized in that: the device comprises a motor component (2), a gear component (3), a terminal encoder (4), a lifting rack (5), a terminal encoding rack (6), a pneumatic internal contracting brake (7), a turntable (8), a motor coaxial internal contracting brake (9) and a servo system;
the motor component (2), the gear component (3), the pneumatic internal contracting brake (7) and the motor coaxial internal contracting brake (9) are arranged on the top of the turntable (8); the terminal coding rack (6) and the lifting rack (5) are arranged on the upright post (1) in parallel; the terminal encoder (4) is arranged on the rotary table (8), and the output shaft of the terminal encoder is meshed with the teeth of the terminal encoding rack (6) by adopting a pinion to realize position detection;
the gear assembly (3) is a middle transmission component of the motor assembly (2) and the lifting rack (5) and is used for converting the rotary motion of the motor into the linear motion of the turntable (8) in the axial direction of the upright post (1);
the motor component (2) comprises a motor and a coaxial encoder arranged at the tail of the motor;
the motor coaxial band-type brake (9) is coaxially arranged at the output shaft end of the motor component (2) and is used for providing braking force when the motor component (2) is not enabled so as to keep the position of the rotary table (8) in the vertical direction;
pneumatic band-type brake (7), when motor element (2) and the coaxial band-type brake of motor (9) all can't provide braking force and lead to carousel (8) gravity to fall, compress tightly on the axial guide rail of stand (1) through compressed air's pressure to slow down the falling speed.
The servo system comprises a driver and a controller; the driver is used for acquiring signals of the coaxial encoder of the motor component (2) and the terminal encoder (4), and controlling the actions of the motor component (2), the pneumatic internal contracting brake (7) and the motor coaxial internal contracting brake (9) through the I/O port; and the controller is used for receiving the information collected by the driver, analyzing and comparing the information, making a control decision and sending the control decision to the driver.
2. A fall detection and protection arrangement for a rack and pinion lift mechanism as claimed in claim 1, wherein: and the terminal encoder (4) is arranged at the bottom of the turntable (8).
3. A fall detection and protection arrangement for a rack and pinion lift mechanism as claimed in claim 1, wherein: defining the position output value of a coaxial encoder on a motor component (2) as PCoaxial cableThe output value of the position of the terminal encoder (4) is PTerminal deviceThe absolute value of the difference between the two encoders is Ep＝|PCoaxial cable-PTerminal deviceMaximum value of gear clearance error Ee。
4. A fall detection and protection arrangement for a rack and pinion lift mechanism as claimed in claim 3, wherein: under normal operation condition, the position output value P of the coaxial encoderCoaxial cableAnd a terminal encoder position output value PTerminal deviceError E ofpNot exceeding Ee。
5. A fall detection and protection arrangement for a rack and pinion lift mechanism as claimed in claim 3, wherein: if part of teeth of the gear or the rack are broken due to fatigue or impact in the operation process, the teeth cannot be meshed, and further the rotating disc (8) falls, at the moment, the value P of the coaxial encoder of the motor assembly (2)Coaxial cableWill be much smaller than the actual stroke of the turntable (8).
6. A fall detection and protection arrangement for a rack and pinion lift mechanism according to claim 5, wherein: and the terminal encoder (4) detects the position through the terminal encoding rack (6), and the output value is the actual stroke of the turntable (8).
7. A fall detection and protection arrangement for a rack and pinion lift mechanism according to claim 5, wherein: if the absolute value of the encoder error EpIs far greater than the maximum value E of the gear clearance erroreAnd then, the gear rack is broken.
8. A fall detection and protection arrangement for a rack and pinion lift mechanism according to claim 5, wherein: once the servo system detects that the rotary disc (8) falls, the pneumatic internal contracting brake (7) is immediately controlled to act to slow down the falling speed of the rotary disc (8).
9. A fall detection and protection arrangement for a rack and pinion lift mechanism according to claim 8, wherein: when the falling speed detected by the terminal encoder (4) is lower than the braking safety value of the coaxial band-type brake, the coaxial band-type brake (9) of the motor is started, and the integral braking of the rotary disc (8) is realized.
10. A method of fall detection and protection for a rack and pinion lift mechanism using the apparatus of claim 1, comprising the steps of:
step 1, connecting a motor coaxial encoder signal to a servo system driver feedback interface, connecting a terminal encoder signal to a driver auxiliary feedback interface, and setting Ee；
Step 2, the servo system drives a motor to operate, and drives a rotary disc to linearly move along the direction of a rack through gear transmission;
step 3, detecting the real-time running position P of the motor by the signal of the motor coaxial encoderCoaxial cableThe actual movement distance P of the signal detection gear of the terminal encoder on the rackTerminal device；
Step 4, the driver transmits the collected information to the controller, and the controller detects whether the information is E or not in real timep＞Ee；
Step 5, once E is detectedp＞EeThe controller sends out an instruction, the driver opens the pneumatic band-type brake to tightly press the upright post guide rail, and the falling speed of the rotary table is reduced;
step 6, the controller detects P in real timeTerminal deviceWhether the opening coaxial braking requirement is reduced to be met or not;
and 7, the controller detects that the P terminal meets the requirement of starting coaxial braking, controls to send out an instruction, and the driver starts the coaxial brake and brakes the turntable through the transmission structure.
CN201811579219.6A 2018-12-24 2018-12-24 Falling detection and protection device and method for gear-rack transmission lifting mechanism Active CN111348575B (en)

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Application Number Priority Date Filing Date Title
CN201811579219.6A CN111348575B (en) 2018-12-24 2018-12-24 Falling detection and protection device and method for gear-rack transmission lifting mechanism

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US20050072965A1 (en) * 2003-10-01 2005-04-07 Sanders Mark E. Electronic winch monitoring system
KR20080003476A (en) * 2006-07-03 2008-01-08 주식회사 엘에스테크 Brake apparatus for the elevator
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JP2009058338A (en) * 2007-08-31 2009-03-19 Koyo Electronics Ind Co Ltd Rotary encoder and electronic control system
CN106495043A (en) * 2016-12-30 2017-03-15 四川建设机械（集团）股份有限公司 Derrick crane mechanism driving system safety guard and method
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CN218847141U (en) * 2022-11-11 2023-04-11 郑州机械研究所有限公司 Automatic measuring device for pitch of gear rack

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US20050072965A1 (en) * 2003-10-01 2005-04-07 Sanders Mark E. Electronic winch monitoring system
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CN218847141U (en) * 2022-11-11 2023-04-11 郑州机械研究所有限公司 Automatic measuring device for pitch of gear rack

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