CN112875556A - Split rope arranging device suitable for large pitch angle, lifting system and control method - Google Patents
Split rope arranging device suitable for large pitch angle, lifting system and control method Download PDFInfo
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- CN112875556A CN112875556A CN202110289473.8A CN202110289473A CN112875556A CN 112875556 A CN112875556 A CN 112875556A CN 202110289473 A CN202110289473 A CN 202110289473A CN 112875556 A CN112875556 A CN 112875556A
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- moving mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
- B66D1/38—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains by means of guides movable relative to drum or barrel
Abstract
The invention discloses a split rope arranging device suitable for a large pitch angle, a lifting system and a control method, wherein the split rope arranging device comprises a suspension arm, a winch drum, a rope arranging device and a roller arranged at the top end of the suspension arm, wherein the rope arranging device comprises a safety rope guider, a first moving mechanism driving the safety rope guider to move and a second moving mechanism driving the first moving mechanism to move; the moving direction of the safety rope guider on the first moving mechanism is along the axial direction of the hoisting drum, and the moving direction of the first moving mechanism on the second moving mechanism is along the trend of the safety rope; the safety rope guider comprises a shell and a guide wheel arranged in the shell, and a rope passing opening for the safety rope to pass through is formed in the shell; the shell is hinged with a connecting piece, and the connecting piece is connected with the first moving mechanism. The defect of single rope shape of fixed rope arranger in big pitching angle hoist mechanism is overcome, the emergence of the indiscriminate rope of safety rope and the wearing and tearing condition of the safety rope that has caused because of changing the pitch angle in-process because of the rope shape is uncomfortable has been avoided, has ensured the security that promotes process personnel and equipment.
Description
Technical Field
The invention belongs to the technical field of mine rescue equipment, and particularly relates to a split rope arranging device suitable for a large pitch angle, a lifting system and a control method.
Background
When a miner is trapped due to accidents in the underground coal mine, the mining safety rescue lifting vehicle is directly communicated with the underground coal mine roadway by vertically drilling from the ground, and the rescue lifting cabin is lowered to implement underground rescue. Because the mining area is mostly located in mountainous areas such as the field, the ground is complex and various, and the situation that the ground is uneven or a rescue vehicle cannot approach the ground is often met, at the moment, the rescue lifting cabin needs to be put in a long distance by adjusting the posture of the lifting arm of the rescue vehicle and increasing the elevation angle of the lifting arm. Because have big pitch angle hoist system and often can carry out the change of pitch angle at the lift in-process, owing to transfer the degree of depth distance darker simultaneously, the appearance rope volume of hoist is great, at hoist lift or transfer in-process, along with the increase or the reduction of hoist reel appearance rope volume, the angle of cut of wire rope also can consequently produce the change. The traditional fixed rope arranger fixed with the hoisting drum can only be suitable for a single lifting or lowering angle, the cutting angle of the safety rope and the hoisting drum cannot be adjusted, and the cutting angle of the safety rope of the fixed rope arranger is larger and larger along with the increase of the lifting angle of the suspension arm, so that the risk of rope arrangement function failure such as rope disorder and the like exists; meanwhile, the fixed rope guider cannot share partial pressure of the safety rope, and the roller at the end of the suspension arm bears all the pressure, so that the fixed rope guider is not suitable for the rope guiding working condition of a large pitch angle mechanism.
Disclosure of Invention
In order to solve the problems, the invention provides a split rope arranging device, a lifting system and a control method which are suitable for a large pitch angle, and solves the problems that the existing lifting device is not suitable for rope arrangement of a suspension arm (or a mechanism) with the large pitch angle, rope disorder is easy to occur and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
a split rope arranging device suitable for a large pitch angle comprises a safety rope guider, a first moving mechanism driving the safety rope guider to move and a second moving mechanism driving the first moving mechanism to move; the moving direction of the safety rope guider on the first moving mechanism is along the axial direction of the hoisting drum, and the moving direction of the first moving mechanism on the second moving mechanism is along the trend of the safety rope; the safety rope guider comprises a shell and a guide wheel arranged in the shell, and a rope passing opening for the safety rope to pass through is formed in the shell; the shell is hinged with a connecting piece, and the connecting piece is connected with the first moving mechanism.
Specifically, the first moving mechanism comprises a first support, a first lead screw and a first guide rod which are connected to the first support, and a motor which drives the first lead screw to rotate; the first support is provided with a reversing piece, and the reversing piece is provided with a connecting hole for connecting the second moving mechanism.
Specifically, the second moving mechanism comprises a second support, a second lead screw and a second guide rod which are connected to the second support, and a motor driving the second lead screw to rotate.
Specifically, the whole shell is of an asymmetric polygonal structure, a first strip-shaped opening and a second strip-shaped opening are respectively arranged on two edges of the shell on two sides of the guide wheel, and the first strip-shaped opening and the second strip-shaped opening form a rope passing opening in the shell.
Furthermore, a pair of rolling shafts is arranged at the rope passing opening, the axial direction of each rolling shaft is vertical, and a gap through which a safety rope passes is arranged between the two rolling shafts.
Preferably, the moving length of the safety rope guide on the first moving mechanism is consistent with the axial width of the winding drum.
The invention also discloses a lifting system suitable for the large pitch angle, which comprises a lifting arm, a winch drum, the rope arranging device and a roller arranged at the top end of the lifting arm, wherein a second moving mechanism of the rope arranging device is connected to the side part of the lifting arm, and the moving direction of the first moving mechanism on the second moving mechanism is along the length direction of the lifting arm.
Furthermore, the lifting system also comprises a detection unit and a control unit, wherein the detection unit comprises an angle sensor arranged at the hinged position of the shell and the connecting piece, and a pressure sensor and a speed sensor arranged at the guide wheel; the input end of the control unit is respectively connected with the angle sensor, the pressure sensor and the speed sensor, and the output end of the control unit is respectively connected with the power system of the winch, the power system of the first moving mechanism and the power system of the second moving mechanism.
The invention also discloses a control method of the lifting system suitable for the large pitch angle, the method adopts the lifting system of the invention, and the control method specifically comprises the following steps:
during the lowering of the safety rope, the winding drum is hoisted
At a rotational speed of the safety line guide
Is moved axially along the hoisting drum, where v is the lowering or raising speed of the safety line and n is the lowering or raising speed of the safety line1The initial rotating speed of the winding drum is n, and the number of turns of the safety rope wound on the winding drum is n; the two end parts of the first moving mechanism are respectively provided with a limit switch, and when the safety rope guider moves to the end part of the first moving mechanism to trigger the limit switches, the safety rope guider moves in a reversing way; n-1 is executed in the rotating speed of the winding drum and the moving speed of the safety rope guider every time the limit switch is triggered;
during the lifting of the safety rope, the winding drum is hoisted
At a rotational speed of the safety line guide
The speed of the rope guide device is that the rope guide device moves the rope along the axial direction of the winding drum; when triggering one each timeThe secondary limit switch performs n +1 on the rotation speed of the winding drum and the moving speed of the safety rope guider;
in the process of lowering or lifting the safety rope, the thickness of the safety rope wound on the hoisting drum is changed, so that the radius of the hoisting drum is also changed, and the safety rope guider is driven to move downwards or upwards along the length direction of the suspension arm to adjust the cutting angle of the safety rope in real time.
Further, the control method of the present invention further includes: when the lifting arm elevation angle is reduced by 3-5 degrees, the safety rope guider moves downwards along the length direction of the lifting arm, the pressure of the safety rope and the safety rope guider is detected in the moving process, the safety rope guider stops moving until the pressure change is less than 5%/second, and the position of the safety rope guider is fixed.
Compared with the prior art, the invention has the beneficial effects that:
the rope arranging device is separated from the hoisting system, and is arranged on the suspension arm, so that the control of the motion trail and each cutting angle of the safety rope can be realized through the position movement of the rope arranging device in the process of lifting at a large pitching angle, the rope shape control of the safety rope in the process of lifting and lowering is convenient to realize, the defect of a single rope shape of a fixed rope arranging device in a large pitching angle lifting mechanism is overcome, the occurrence of rope disorder and abrasion of the safety rope caused by rope shape discomfort in the process of changing the pitching angle is avoided, and the safety of personnel and equipment in the lifting process is ensured; meanwhile, the rope arranging device is arranged on the suspension arm, so that partial pressure of the safety rope can be shared.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
Fig. 1 is a schematic view of the overall structure of a rope guiding device according to an embodiment of the present invention.
Fig. 2 is a bottom view of the rope guiding device according to the embodiment of the present invention.
Fig. 3 is a front side view of a rope guiding device according to an embodiment of the present invention.
Fig. 4 is a schematic view of the connection of the first displacement mechanism to the safety line guide.
Fig. 5 is a schematic view of a lifting system according to embodiment 2 of the present invention.
The reference numerals in the figures denote:
1-suspension arm, 2-winch drum, 3-rope arranging device, 4-roller, 5-safety rope, 6-angle sensor, 7-pressure sensor and 8-speed sensor;
31-safety rope guider, 32-first moving mechanism, 33-second moving mechanism, 34-reversing piece, 35-connecting piece and 36-limit switch;
311-shell, 312-guide wheel, 313-rope passing opening, 314-roller;
321-a first support, 322-a first lead screw, 323-a first guide rod;
331-second support, 332-second lead screw, 333-second guide bar.
The details of the present invention are explained in further detail below with reference to the drawings and the detailed description.
Detailed Description
The following embodiments of the present invention are provided, and it should be noted that the present invention is not limited to the following embodiments, and all equivalent changes based on the technical solutions of the present invention are within the protection scope of the present invention.
In the present invention, unless otherwise specified, the use of the terms of orientation such as "upper, lower, bottom, top" and "lower" generally refer to the definition in the drawing plane of the corresponding drawing, and "inner and outer" refer to the definition in the drawing plane of the corresponding drawing.
Example 1
The embodiment discloses a split rope guiding device suitable for a large pitch angle, as shown in fig. 1 to 4, the device includes a safety rope guider 31, a first moving mechanism 32 driving the safety rope guider 31 to move, and a second moving mechanism 33 driving the first moving mechanism 32 to move. Wherein, the moving direction of the safety rope guider 31 on the first moving mechanism 32 is along the axial direction of the winding drum 2, preferably, the moving length of the safety rope guider 31 on the first moving mechanism 32 is consistent with the axial width of the winding drum 2, so as to realize that the rope arranging device arranges the rope to completely cover the width of the winding drum. The direction of movement of the first displacement means 32 on the second displacement means 33 runs along the safety line 5, in particular the first displacement means 32 is connected to the second displacement means 33 via a reversing element 34.
The safety rope guide 31 includes a housing 311 and a guide wheel 312 disposed in the housing 311, a rope passing opening 313 through which the safety rope passes is disposed on the housing 311, and the rope passing opening 313 penetrates both sides of the housing 311. The housing 311 is hinged with a connecting member 35, and the connecting member 35 is connected with the first moving mechanism 32. Thus, the safety rope guide 31 can rock back and forth along the moving direction of the safety rope, so that the safety rope guide 31 has strong adaptability in the pitch angle change process.
In this embodiment, the casing 311 is an asymmetric polygonal structure, and a first strip-shaped opening and a second strip-shaped opening are respectively disposed on two sides of the casing on two sides of the guide wheel 312, and the first strip-shaped opening and the second strip-shaped opening form a rope passing opening 313 on the casing 311. Specifically, the housing 311 is assembled by two plate bodies by bolts, the guide wheel 312 is connected between the two plate bodies by a connecting shaft, and in addition, the connecting member 35 is connected with the two plate bodies by a pin shaft. In this embodiment, the whole body of the housing 311 is an asymmetric pentagonal structure, the pin holes connected with the connecting member 35 are formed at the sharp corners of the two sides, and the included angles between the two sides and the surface where the first lead screw 322 is located are set according to actual requirements, so as to limit the shaking angle of the safety rope guide 31.
In this embodiment, the first moving mechanism 32 includes a first support 321, a first lead screw 322 and a first guide rod 323 connected to the first support 321, and a motor for driving the first lead screw 322 to rotate. The first support 321 is composed of a bottom plate and end plates at two sides of the bottom plate, a first lead screw 322 and a first guide bar 323 are connected to the end plates at two sides in parallel, the first lead screw 322 is located between the two first guide bars 323, and the three are arranged between the two end plates in a space triangular prism shape.
The other side of the bottom plate is provided with a reversing piece 34, and the reversing piece 34 is connected with the bottom plate in a welding or bolting mode. The reversing member 34 is provided with a connecting hole for connecting the second moving mechanism 33, and the reversing member 34 is specifically a plate.
The second moving mechanism 33 includes a second support 331, a second lead screw 332 and a second guide rod 333 connected to the second support 331, and a motor for driving the second lead screw 332 to rotate. The second support 331 is the same as the first support 321, and is also composed of a bottom plate and end plates at two sides of the bottom plate; the second guide bar 333 is perpendicular to the first guide bar 323, and the second lead screw 332 and the second guide bar 333 are also arranged between the end plates in a triangular prism shape. The reversing member 34 is provided with a connecting hole through which the second lead screw 332 and the second guide rod 333 pass.
The motor in this embodiment is specifically a servo motor.
The connecting member 35 in this embodiment is specifically a plate, and the plate is provided with an assembling hole, which is assembled with the first lead screw 322, the first guide bar 323, and the pin shaft at the position of the safety rope guide 31, respectively.
As a preferable solution of this embodiment, a pair of rollers 314 is disposed at the rope passing opening 313, the rollers 314 are specifically slender rollers, the axial direction of the rollers is along the vertical direction, and a gap through which the safety rope passes is disposed between the two rollers 314. Therefore, the rope shape of the rope inlet end rolling shaft, the guide wheel and the rope outlet end rolling shaft can be kept to be a linear shape parallel to the radial direction of the guide wheel 312, the safety rope can be kept on the guide wheel 312 in the transverse moving and translation processes of the whole rope arranging device, and the occurrence of the accident that the safety rope is separated from the wheel due to the change of the dynamic position of the rope arranging device is prevented.
As another alternative of this embodiment, limit switches 36 that limit the moving position of the safety line guide 31 may be further provided at both ends of the first moving mechanism 32. Specifically, the first lead screw 322 is provided at both ends thereof. When the safety rope guide 31 touches the limit switches 36 on both sides of the first lead screw 322, the safety rope guide moves in the opposite direction to ensure the boundary rope take-up of the winding drum 2.
Example 2
The embodiment discloses a lifting system suitable for a large pitch angle, and as shown in fig. 5, the lifting system comprises a boom 1, a winch drum 2, a rope guiding device 3 described in embodiment 1, and a roller 4 arranged at the top end of the boom 1. Wherein, the second moving mechanism 3 of the rope arranging device 3 is connected to the side part of the suspension arm 1, and the moving direction of the first moving mechanism 32 on the second moving mechanism 33 is along the length direction of the suspension arm 1. Specifically, the second support 331 of the second moving mechanism 33 is fixed to the boom by welding or bolting.
The safety rope can reach any point of the plane below the lifting boom through the synergistic effect of the first moving mechanism 32 and the second moving mechanism 33, and the dynamic adjustment of the winding position of the safety rope during rope discharging and rope winding is realized.
In order to realize the automatic control process of the present apparatus, the lifting system described in embodiment 2 further includes a detection unit and a control unit. Wherein the detecting unit includes an angle sensor 6 provided at a position where the housing 311 is hinged to the link 35, a pressure sensor 7 provided at the guide wheel 312, and a speed sensor 8, as shown in fig. 3. The input end of the control unit is respectively connected with the angle sensor 6, the pressure sensor 7 and the speed sensor 8, and the output end of the control unit is respectively connected with the power system of the winch, the power system of the first moving mechanism 32 and the power system of the second moving mechanism 33.
The angle sensor 6 is used for detecting the change of the pitch angle of the suspension arm 1, when the pitch angle of the suspension arm 1 changes, the safety rope guider 31 can keep vertically downward under the action of gravity, and the angle sensor 6 is driven to change by the rotation generated vertically downward.
The power system of the winch in this embodiment is a variable motor, and the specific control process of the variable motor is as follows: the diesel engine drives the load sensitive pump, and the forward and reverse rotation, flow control and pressure control of the variable motor are realized under the action of the control valve group. The power system of the first moving mechanism 32 and the power system of the second moving mechanism 33 are both servo motors.
Example 3
The embodiment discloses a control method of a lifting system suitable for a large pitch angle, and the method adopts the lifting system described in embodiment 2 to coordinate and control the rotation speed of a winding drum and the moving speed of a safety rope guider 31 in the lifting and lowering processes of a safety rope.
In the coordinated control process of rope arrangement and winding of the whole rope arrangement device, the key parameter to be ensured is that the speed v of lifting or lowering the safety rope is kept unchanged.
Setting the lifting speed of the safety rope as v, the initial rope winding diameter of the winding drum as D in the state of no rope winding, and the winding speed of the first row of ropes of the winding drum in the state of no rope winding in the initial state
n1The initial reference rotating speed of the winding drum is set; rotation period of the hoisting drum
The split type rope arranging device is arranged in a rope winding period T1The transverse moving distance is 3 percent D of the diameter of the safety rope, so that the tight and reliable rope arranging effect can be ensured, and the transverse moving speed of the split type rope arranging device for the first circle of the steel wire rope of the winding drum (namely the circumferential moving speed of the safety rope guider 31 along the winding drum 2)
After winding for one circle, the winding diameter of the winding drum 2 is increased by two safety rope diameters with the length of 6 percent D, and meanwhile, the linear speed v of the safety rope is ensured to be kept unchanged, and the rotating speed of the winding drum for the second circle is ensured
Initial reference rotation speed n1Substituting to obtain n2And n1The relationship of (1) is:
at the moment, the rope winding period of the winding drum is ensured under the condition that the linear speed v of the safety rope is not changed
Transverse moving speed of rope arranging of split type rope arranging device
In summary, when the rope guider is wound to the nth row, the rotating speed n of the winding drum isnAnd the transverse moving speed v of the split type rope guidernThe change rule is as follows:
the specific control method comprises the following steps:
during the lowering of the safety rope, the winding drum 2 is hoisted
At a rotational speed of the safety line guide 31 and
is moved axially along the hoisting drum 2, where v is the lowering or hoisting speed of the safety rope and n is the hoisting speed1The initial rotating speed of the winding drum is n, and the number of turns of the safety rope wound on the winding drum is n; the two end parts of the first moving mechanism 32 are respectively provided with a limit switch 36, and when the safety rope guider 31 moves to the end part of the first moving mechanism 32 to trigger the limit switches 36, the safety rope guider 31 moves in a reversing way; n-1 is executed in the rotation speed of the winding drum 2 and the moving speed of the safety rope guider 31 every time the limit switch 38 is triggered;
during the hoisting of the safety line, the drum 2 is hoisted
At a rotational speed of the safety line guide 31 and
the speed of the rope guide device is that the rope guide device moves the rope along the axial direction of the winding drum 2; when the limit switch 38 is triggered once, n +1 is performed out of the rotation speed of the winding drum 2 and the moving speed of the safety rope guide 31.
Thereby realizing the coordinated control of the winding drum 2 and the safety rope guide 31.
When the thickness of the safety rope wound on the winding drum 2 changes, the turning radius of the steel wire rope on the winding drum also changes, the cutting angle between the safety rope 5 and the winding drum 2 also changes, and the cutting angle of the safety rope needs to be adjusted to keep the initial cutting angle. The specific control process of the safety rope cut-in angle comprises the following steps:
in the lifting process of the safety rope, the thickness of the hoisting drum is increased, and the cutting-in angle of the safety rope is adjusted by driving the first moving mechanism 32 and the safety rope guider 31 to move downwards for a certain distance along the length direction of the suspension arm; in the safety rope lowering process, the thickness of the hoisting drum is reduced, and the first moving mechanism 32 and the safety rope guider 31 are driven to move upwards for a certain distance along the length direction of the suspension arm, so that the cutting-in angle of the safety rope is adjusted. The specific moving distance is determined according to the thickness change of the safety rope.
In addition, the angle change of the suspension arm 1 is detected, when the elevation angle of the suspension arm 1 is detected to be reduced by 3-5 degrees, the safety rope guider 31 is driven to move downwards along the length direction of the suspension arm, and the pressure between the safety rope and the safety rope guider 31 is detected in the moving process until the pressure change is less than 5%/second; specifically, in the present embodiment, the pressure sensor 7 disposed at the guide wheel 312 detects the pressure of the safety rope, and the control unit controls the servo motor of the second moving mechanism 33 according to the change of the angle signal, and the servo motor drives the first moving mechanism 32 and the safety rope guide 31 to move downward along the length direction of the boom 1.
If the numerical value of the pressure sensor of the safety rope in the descending process is instantaneously reduced, the numerical value of the pressure sensor is instantaneously increased in the lifting process, and when the pressure change is set to be 5% -10% in the embodiment, the situation that the rescue cabin suffers from the blocking accident in the descending and lifting process is described.
The large pitch angle of the invention generally means that the elevation angle between the suspension arm and the plane of the vehicle body is 45-75 degrees, and the rope arranging device of the invention is suitable for the rope arranging process of a steel wire rope with the rope accommodating capacity of hoisting more than 500 meters.
In the above description, unless otherwise explicitly stated or limited, the terms "disposed" and "connected" are to be understood broadly, and may be, for example, fixedly connected or detachably connected or integrated; either a direct connection or an indirect connection, and the like. The specific meaning of the above terms in the present technical solution can be understood by those of ordinary skill in the art according to specific situations.
The respective specific technical features described in the above-described embodiments may be combined in any suitable manner without contradiction as long as they do not depart from the gist of the present invention, and should also be regarded as being disclosed in the present invention.
Claims (10)
1. The split rope arranging device suitable for the large pitch angle is characterized by comprising a safety rope guider (31), a first moving mechanism (32) driving the safety rope guider (31) to move and a second moving mechanism (33) driving the first moving mechanism (32) to move;
the moving direction of the safety rope guider (31) on the first moving mechanism (32) is along the axial direction of the hoisting drum (2), and the moving direction of the first moving mechanism (32) on the second moving mechanism (33) is along the trend of the safety rope (5);
the safety rope guider (31) comprises a shell (311) and a guide wheel (312) arranged in the shell (311), wherein a rope passing opening (313) for the safety rope to pass through is formed in the shell (311); the shell (311) is hinged with a connecting piece (35), and the connecting piece (35) is connected with the first moving mechanism (32).
2. The split rope guiding device suitable for large pitch angle according to claim 1, wherein the first moving mechanism (32) comprises a first support (321), a first lead screw (322) and a first guide rod (323) connected to the first support (321), and a motor driving the first lead screw (322) to rotate; the first support (32) is provided with a reversing piece (34), and the reversing piece (34) is provided with a connecting hole for connecting the second moving mechanism (33).
3. The split type rope guiding device suitable for a large pitch angle of claim 1, wherein the second moving mechanism (33) comprises a second support (331), a second lead screw (332) and a second guide rod (333) connected to the second support (331), and a motor for driving the second lead screw (332) to rotate.
4. The split type rope guiding device suitable for the large pitch angle as claimed in claim 1, wherein the housing (311) is an asymmetric polygon structure as a whole, and a first strip-shaped opening and a second strip-shaped opening are respectively arranged on two sides of the housing on two sides of the guide wheel (312), and the first strip-shaped opening and the second strip-shaped opening form a rope passing opening (313) on the housing (311).
5. The split rope aligning device suitable for the large pitch angle according to claim 1 or 4, wherein a pair of rollers (314) is arranged at the rope passing opening (313), the rollers (314) are axially vertical, and a gap for passing the safety rope is arranged between the two rollers (314).
6. The split type rope aligning apparatus for a large pitch angle according to claim 1, wherein the moving length of the safety rope guider (31) on the first moving mechanism (32) is identical to the axial width of the winding drum (2).
7. The lifting system suitable for the large pitch angle is characterized by comprising a suspension arm (1), a winch drum (2), the rope arranging device (3) as claimed in any one of claims 1 to 6 and a roller (4) arranged at the top end of the suspension arm (1), wherein the second moving mechanism (3) of the rope arranging device (3) is connected to the side part of the suspension arm (1), and the moving direction of the first moving mechanism (32) on the second moving mechanism (33) is along the length direction of the suspension arm (1).
8. A lifting system adapted for large pitch angles according to claim 1, characterised in that it further comprises a detection unit and a control unit, said detection unit comprising an angle sensor (6) arranged at the articulation of the housing (311) with the connection (35), a pressure sensor (7) and a speed sensor (8) arranged at the guide wheel (312); the input end of the control unit is respectively connected with the angle sensor (6), the pressure sensor (7) and the speed sensor (8), and the output end of the control unit is respectively connected with the power system of the winch, the power system of the first moving mechanism (32) and the power system of the second moving mechanism (33).
9. A method for controlling a lift system adapted to a large pitch angle, characterized in that, with the lift system of claim 7 or 8, the method specifically comprises:
during the lowering of the safety rope, the winding drum (2) is hoisted
At a rotational speed of the safety line guide (31) and
is axially moved along the hoisting drum (2), wherein v is the lowering or raising speed of the safety rope and n is the lowering or raising speed of the safety rope1The initial rotating speed of the winding drum is n, and the number of turns of the safety rope wound on the winding drum is n; the two ends of the first moving mechanism (32) are respectively provided with a limit switch (36), and when the safety rope guider (31) moves to the end of the first moving mechanism (32) to trigger the limit switches (36), the safety rope guider (31) moves in a reversing way; n-1 is executed in the rotating speed of the winding drum (2) and the moving speed of the safety rope guider (31) every time the limit switch (38) is triggered;
during the lifting of the safety rope, the winding drum (2) is hoisted
At a rotational speed of the safety line guide (31) and
the speed of the rope guide device is that the rope guide device moves the rope along the axial direction of the winding drum (2); when the limit switch (38) is triggered once, n in the rotating speed of the winding drum (2) and the moving speed of the safety rope guider (31) is n + 1;
in the process of lowering or lifting the safety rope, the thickness of the safety rope wound on the hoisting drum (2) is changed, so that the radius of the hoisting drum is changed, and the safety rope guider 31 is driven to move downwards or upwards along the length direction of the suspension arm (1) to adjust the cutting angle of the safety rope in real time.
10. A control method of a hoisting system suitable for a large pitch angle according to claim 1, characterized in that when the decrease of the elevation angle of the boom (1) by 3 ° to 5 ° is detected, the safety rope guide (31) is moved downwards along the length of the boom, and the pressure at the safety rope and the safety rope guide (31) is detected during the movement until the pressure change is less than 5%/second, and the movement of the safety rope guide (31) is stopped.
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| CN107500164A (en) * | 2017-10-13 | 2017-12-22 | 四川建设机械（集团）股份有限公司 | Bent axle rope winding jib and its mounting structure |
| CN107902479A (en) * | 2017-12-16 | 2018-04-13 | 橙色云设计有限公司 | A kind of winding Cable Assembly system that can adjust inlet wire angle |
| CN109231047A (en) * | 2018-08-30 | 2019-01-18 | 中联重科股份有限公司 | The device and method for controlling hoisting mechanism row's rope |
| CN209889967U (en) * | 2019-05-14 | 2020-01-03 | 许我泉 | Metal wire winding device with tension adjusting mechanism |
| CN110697599A (en) * | 2019-10-17 | 2020-01-17 | 长沙中联恒通机械有限公司 | Automatic rope arrangement control system and automatic rope arrangement control method for winch |
| CN111908257A (en) * | 2020-09-11 | 2020-11-10 | 青岛恒旺伟业机械有限公司 | Metal card clothing wrapping machine capable of realizing continuous, stable and accurate winding |
| CN111908252A (en) * | 2020-09-23 | 2020-11-10 | 赖国营 | Cable coiling machine |
| CN212503364U (en) * | 2020-06-17 | 2021-02-09 | 上海兰凰实业有限公司 | Coiling mechanism for wire and cable |
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2021
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| CN104401897A (en) * | 2014-10-24 | 2015-03-11 | 宝鸡石油机械有限责任公司 | Servo rope release device with oil cylinders |
| CN107500164A (en) * | 2017-10-13 | 2017-12-22 | 四川建设机械（集团）股份有限公司 | Bent axle rope winding jib and its mounting structure |
| CN107902479A (en) * | 2017-12-16 | 2018-04-13 | 橙色云设计有限公司 | A kind of winding Cable Assembly system that can adjust inlet wire angle |
| CN109231047A (en) * | 2018-08-30 | 2019-01-18 | 中联重科股份有限公司 | The device and method for controlling hoisting mechanism row's rope |
| CN209889967U (en) * | 2019-05-14 | 2020-01-03 | 许我泉 | Metal wire winding device with tension adjusting mechanism |
| CN110697599A (en) * | 2019-10-17 | 2020-01-17 | 长沙中联恒通机械有限公司 | Automatic rope arrangement control system and automatic rope arrangement control method for winch |
| CN212503364U (en) * | 2020-06-17 | 2021-02-09 | 上海兰凰实业有限公司 | Coiling mechanism for wire and cable |
| CN111908257A (en) * | 2020-09-11 | 2020-11-10 | 青岛恒旺伟业机械有限公司 | Metal card clothing wrapping machine capable of realizing continuous, stable and accurate winding |
| CN111908252A (en) * | 2020-09-23 | 2020-11-10 | 赖国营 | Cable coiling machine |
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