EP0458994B1 - Tension control for the hoist cables of a transfer machine for bulk material - Google Patents

Tension control for the hoist cables of a transfer machine for bulk material Download PDF

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Publication number
EP0458994B1
EP0458994B1 EP19900110154 EP90110154A EP0458994B1 EP 0458994 B1 EP0458994 B1 EP 0458994B1 EP 19900110154 EP19900110154 EP 19900110154 EP 90110154 A EP90110154 A EP 90110154A EP 0458994 B1 EP0458994 B1 EP 0458994B1
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EP
European Patent Office
Prior art keywords
tension
cable
closing
holding
gripper
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP19900110154
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German (de)
French (fr)
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EP0458994A1 (en
Inventor
Ludwig Carbon
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Siemens AG
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Siemens AG
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Publication date
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Priority to EP19900110154 priority Critical patent/EP0458994B1/en
Priority to ES90110154T priority patent/ES2070951T3/en
Priority to DE59008943T priority patent/DE59008943D1/en
Publication of EP0458994A1 publication Critical patent/EP0458994A1/en
Application granted granted Critical
Publication of EP0458994B1 publication Critical patent/EP0458994B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/12—Grabs actuated by two or more ropes
    • B66C3/125—Devices for control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • B66C13/32—Control systems or devices for electric drives for operating grab bucket hoists by means of one or more electric motors used both for hosting and lowering the loads and for opening and closing the bucket jaws
    • B66C13/38—Systems controlling independent motors

Definitions

  • the invention relates to a tension control for the gripper ropes of a bulk material handling device with gripper and electric, position and speed-controlled cable drives, in particular a bulk material handling device with cable trolley, the gripper having a holding and a closing rope and the tension control at the beginning of a closing process of the
  • the gripper acts in such a way that the tether is hauled in or released until the tether is loaded with a tether whose preselectable initial value is significantly smaller than the nominal tug, e.g. 10% of the nominal train.
  • the regulation described there is not yet optimal insofar as the tether may close when the gripper is closed. sag slack and a high jerk can occur during the subsequent transition to full tensile load. A jerk leads to loads and wear in the tether, bearings for the deflection pulleys and tether winch, as well as endangering people and material by knocking out the tether during the transition to full tensile load when lifting the gripper. Furthermore, the tether and tether mechanism must be dimensioned accordingly strong to cope with the jerk.
  • a jerk would also raise the gripper somewhat without the closing rope being able to keep the gripper closed.
  • some bulk material eg 1%, would have flowed out of the gripper again; the handling device would be operated with a reduced filling level of the gripper.
  • the object of the present invention is to avoid the jerk and the associated disadvantages with certainty, ensuring time and quantity-optimal operation of the handling device and, moreover, in all operating states, in particular with a high degree of closure of the gripper, an even load distribution on holding and Closing rope should be reached. This enables a smaller and consequently less expensive design of the locking rope, locking rope mechanism and locking rope drive.
  • the object is achieved in that the holding train is steadily increased during the closing process from a preselectable degree of closing of the gripper to a preselectable maximum holding pull.
  • Regulating the stop train can e.g. in that the speed control of the tether drives acts as a proportional control during the closing process, this speed control is given a speed setpoint corresponding to the "lifting the gripper" state and the gain factor of the speed control is increased to increase the stop pull.
  • the holding pull is increased to the nominal pull, which in particular can be equal to the pull in the closing rope of the gripper.
  • the termination of the closing process is determined in a particularly advantageous manner as a function of the load, that is to say the load-related rope elongations are taken into account.
  • a bulk material handling device 1 essentially consists of a mechanically rigid frame 2, a trolley, here a cable trolley 3, a gripper 4 and the drives 5, 5 ', 5' 'for cat rope 6, closing rope 6' and tether 6 '' of the gripper 4 with the associated drive control.
  • the drive control is advantageously carried out by an automation unit 7, e.g. a programmable logic controller or a PC.
  • the drives 5, 5 ', 5' ' are advantageously designed as converter-fed three-phase asynchronous motors.
  • Deflection rollers 8 ', 8' 'for the gripper ropes 6', 6 '' are arranged on the cat 3. At the outer end of the handling device 1, a deflection roller 8 for the cat rope 6 is arranged.
  • a degree of closure of 0% means an open, a degree of closure of 100% a closed gripper 4.
  • the gripper 4 essentially consists of 2 gripper shells 41, 41 'which are connected to one another at their pointed end, for example with a plug-in axis 45. Furthermore, the gripper shells 41, 41 'are connected at fastening points 42, 42' via cables 43, 43 'to a crossbar 44 to which the tether 6''is fastened.
  • the closing rope 6 ' is guided over deflection pulleys 46, which act on the crossbar 44 and the axis 45 and act as a pulley block.
  • the end of the closing line 6 ' can be attached to the crossbar 44 or to the axis 45.
  • the gripper 4 is opened by a corresponding control of the drive before it touches the bulk material 9.
  • the closing rope 6 '- relative to the tether 6' '- is lowered so that the gripper shells 41, 41' open.
  • the gripper ropes 6 ′, 6 ′′ are released so that the gripper 4 can sink into the bulk material 9. Slack rope is formed in the gripper ropes 6 ', 6' '.
  • a tension control of the tether 6 '' is carried out in such a way that the slack rope of the tether 6 '' is brought in until the tether 6 '' is acted upon by a preselectable tether F min which is significantly smaller than the nominal tension required to raise the nominal load , eg 10% of the nominal train.
  • the slack rope of the closing rope 6 ' which may be present is automatically taken up when the gripper 4 is closed.
  • the transition from pulling in the slack rope to closing the gripper 4 is not critical, since the required train F s in the closing rope 6 'does not increase abruptly, but continuously. This will be explained in detail in the description of FIG. 3. From a preselectable degree of closure of the gripper 4, for example 60%, the holding pull F h in the tether 6 ′′ is gradually increased in order to ensure a smooth transition to the lifting of the gripper 4.
  • the gradual increase in the holding cable F h ensures that any slack rope that may be present is caught, in particular that the sag of the holding cable 6 ′′ between the holding cable drive 5 ′′ and the deflection roller 8 ′′ is eliminated before the holding cable drive 5 ′′ with the gripper 4 is non-positive via the tether 6 ''. Power peaks in tether 6 '', tether drive 5 '', pulley 8 '' etc. are significantly reduced. Furthermore, knocking out of the tether 6 ′′ is avoided.
  • the pull F h in the tether 6 ′′ is continuously regulated up to a preselectable maximum towing pull F max , which can be, for example, the same as the nominal pull or the pull F s in the closing rope 6 ′ of the gripper 4.
  • FIG 3 shows the course of the train in the gripper ropes 6 ', 6' 'during a closing operation.
  • the solid line means the course of the traction in the tether 6 ′′ and the dashed line means the course of the traction in the closing rope 6 ′′.
  • the open gripper 4 is lowered onto the bulk material 9.
  • the train F s in the closing rope 6 ' is very small.
  • the train F h in the tether 6 ′′ is caused by the weight of the gripper 4.
  • the gripper ropes 6 ', 6'' After placing the gripper 4 on the bulk material 9, that is, after the time t 1, the gripper ropes 6 ', 6''are still released until, for example, the trains F h , F s in the gripper ropes 6', 6 '' only Correspond to the dead weight of the gripper ropes 6 ', 6''so that the gripper 4 can sink into the bulk material 9.
  • the gripper 4 is closed.
  • the closing train F s rises steadily.
  • the closing cable F s in the closing cable 6 ' is thereby reinforced via the pulley block formed by the deflection rollers 46, which is preferably designed with 3 to 7-fold reduction, in particular with 4-fold reduction. Without reduction, the gripper 4 would be lifted from the bulk material 9 solely by the closing rope 6 'before the gripper 4 is completely closed, since the closing pull F s required to close the gripper 4 clearly exceeds the nominal pull.
  • the slack of the tether 6 is overtaken with a known slack rope control until the tether 6" from the time t3 is acted upon by a tether F min, which is significantly less than the nominal tug.
  • the holding pull F h in the holding rope 6 '' is continuously regulated up to a maximum holding pull F max , which is, for example, equal to the maximum closing pull .
  • a tension compensation control is advantageously activated when lifting, so that the total tension F h + F s is distributed in a predetermined ratio, preferably 50:50, to the gripper ropes 6 ', 6''.
  • the drives 5 ', 5' 'for the gripper ropes 6', 6 '', the gripper ropes 6 ', 6' 'themselves, the deflection rollers 8', 8 '' and subsequently also the trolley 3, the cat rope 6 and the cat drive 5 can be designed smaller and thus also cheaper.
  • the structure of the gripper rope control is shown in FIG. 4.
  • the structure of the cat rope control is not shown for reasons of clarity. It is designed in the same way as the structure of the rapier control.
  • the control unit 17 supplies the target value for the length h * of the tether 6 ′′ and the target value for the length difference between the closing rope 6 'and the retaining rope 6''. Furthermore, the control unit 17 switches the speed controller 14 ′′ and the compensation controller 12.
  • the control unit 17 supplies a time-dependent tether length h * to the position controller 10 ′′, which forms the difference ⁇ h from the tether length h * and the actual tether length h and forwards it to the ramp generator 11 ′′.
  • the speed controller 14 ′′ compares the actual speed value n h of the tether drive 5 ′′ with the speed command value n h * and supplies the current controller 15 ′′ with a current command value I h * which depends on the operating mode of the speed controller 14 ′′. and possibly also depends on the degree of closure of the gripper or, which is equivalent, on the effective length difference s eff of the gripper ropes 6 ', 6''.
  • the current regulator 15 ′′ regulates the current for the tether drive 5 ′′.
  • the position controller 10 ′ receives a corresponding setpoint from the control unit 17 given.
  • the speed controller 14 ′′ which is normally operated as a PI controller, is switched by sending the signal m h so that it works as a P controller with weak amplification.
  • the position controller 10 ′′ is given a setpoint h * which corresponds to the “lifting gripper” state.
  • the ramp generator 11 ′′ also produces a speed setpoint n corresponding to the “lifting gripper” state * H given to the speed controller 14 ''.
  • the speed setpoint n * H can also be specified directly by the control unit 17, as indicated by the broken line in FIG. 4.
  • the speed controller 14 ′′ is again switched as a PI controller and the gripper 4 is raised.
  • the lifting command is given by the control unit 17 specifying a corresponding target value h *.
  • the control unit 17 activates the compensation control 12 by the signal m a, which compensates for tension between the tether 6 ′′ and the closing rope 6 ′.
  • Each rope only carries part of the load, e.g. only half Load.
  • the speed controller 14' is acted upon by the compensation controller 12 with an additional speed setpoint ⁇ n s ** if necessary.
  • the position controller 10 'and the ramp generator 11' are either overridden or deactivated.
  • the current status data of the handling device can be displayed on a monitor, not shown, in the driver's cab, so that the device operator can intervene if necessary.
  • the entire drive control in the automation unit 7 can be implemented in software, but can also be constructed in hardware.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Ropes Or Cables (AREA)
  • Control And Safety Of Cranes (AREA)

Description

Die Erfindung betrifft eine Zugregelung für die Greiferseile eines Schüttgut-Umschlaggeräts mit Greifer und elektrischen, lage- und drehzahlgeregelten Seilantrieben, insbesondere eines Schüttgut-Umschlaggeräts mit Seilzugkatze, wobei der Greifer ein Halte- und ein Schließseil aufweist und wobei die Zugregelung zu Beginn eines Schließvorgangs des Greifers derart wirkt, daß das Halteseil eingeholt bzw. nachgelassen wird, bis das Halteseil mit einem Haltezug beaufschlagt ist, dessen vorwählbarer Anfangswert wesentlich kleiner ist als der Nennzug, z.B. 10 % des Nennzugs.The invention relates to a tension control for the gripper ropes of a bulk material handling device with gripper and electric, position and speed-controlled cable drives, in particular a bulk material handling device with cable trolley, the gripper having a holding and a closing rope and the tension control at the beginning of a closing process of the The gripper acts in such a way that the tether is hauled in or released until the tether is loaded with a tether whose preselectable initial value is significantly smaller than the nominal tug, e.g. 10% of the nominal train.

Eine solche Zugregelung ist z.B. in der "Siemens-Zeitschrift", Jg. 49, Heft 1 (Jan. 1975), Seiten 3 bis 9, beschrieben.Such train control is e.g. in the "Siemens-Zeitschrift", vol. 49, issue 1 (Jan. 1975), pages 3 to 9.

Die dort beschriebene Regelung ist insofern noch nicht optimal, als beim Schließen des Greifers das Halteseil u.U. schlaff durchhängen und beim darauffolgenden Übergang zur vollen Zugbelastung ein hoher Ruck auftreten kann. Ein Ruck führt zu Belastungen und Verschleiß in Halteseil, Lagern für die Umlenkrollen und Halteseilwinde sowie zur Gefährdung von Menschen und Material durch das Ausschlagen des Halteseils beim Übergang zur vollen Zugbelastung beim Heben des Greifers. Ferner müssen Halteseil und Halteseilmechanik entsprechend stark dimensioniert sein, um den Ruck verkraften zu können.The regulation described there is not yet optimal insofar as the tether may close when the gripper is closed. sag slack and a high jerk can occur during the subsequent transition to full tensile load. A jerk leads to loads and wear in the tether, bearings for the deflection pulleys and tether winch, as well as endangering people and material by knocking out the tether during the transition to full tensile load when lifting the gripper. Furthermore, the tether and tether mechanism must be dimensioned accordingly strong to cope with the jerk.

Durch einen Ruck würde auch der Greifer etwas angehoben, ohne daß das Schließseil den Greifer geschlossen halten könnte. Bis das Schließseil nachgeführt wäre, wäre etwas Schüttgut, z.B. 1 %, aus dem Greifer wieder ausgeflossen; das Umschlaggerät würde mit verringertem Füllgrad des Greifers betrieben werden.A jerk would also raise the gripper somewhat without the closing rope being able to keep the gripper closed. By the time the closing rope had been adjusted, some bulk material, eg 1%, would have flowed out of the gripper again; the handling device would be operated with a reduced filling level of the gripper.

Bei einer aus der DE-B-1 120 660 bekannten Einrichtung wird zur Ruckverhinderung beim Schließen des Greifers im Augenblick des vollständigen Greiferschlusses mittels eines zeit- oder wegabhängigen Schaltgeräts der Antrieb für das Schließseil kurz vor Beendigung des Schließhubes auf einer Stufe heruntergeschaltet, in der ein Anheben des gefüllten Greifers über das Schließseil nicht möglich ist.In a device known from DE-B-1 120 660, to prevent jerking when the gripper closes at the moment the gripper closes completely, the drive for the closing rope is switched down to a level shortly before the closing stroke is completed by means of a time-dependent or path-dependent switching device It is not possible to lift the filled gripper using the closing rope.

Aufgabe der vorliegenden Erfindung ist es, den Ruck und die damit verbundenen Nachteile mit Sicherheit zu vermeiden, wobei ein zeit- und mengenoptimaler Betrieb des Umschlaggeräts gewährleistet und darüber hinaus in allen Betriebszuständen, insbesondere bei hohem Schließgrad des Greifers, eine gleichmäßige Lastverteilung auf Halte- und Schließseil erreicht werden soll. Dies ermöglicht eine kleinere und folglich auch kostengünstigere Auslegung von Schließseil, Schließseilmechanik und Schließseilantrieb.The object of the present invention is to avoid the jerk and the associated disadvantages with certainty, ensuring time and quantity-optimal operation of the handling device and, moreover, in all operating states, in particular with a high degree of closure of the gripper, an even load distribution on holding and Closing rope should be reached. This enables a smaller and consequently less expensive design of the locking rope, locking rope mechanism and locking rope drive.

Die Aufgabe wird dadurch gelöst, daß der Haltezug während des Schließvorgangs ab einem vorwählbaren Schließgrad des Greifers geregelt stetig bis auf einen vorwählbaren maximalen Haltezug erhöht wird.The object is achieved in that the holding train is steadily increased during the closing process from a preselectable degree of closing of the gripper to a preselectable maximum holding pull.

Das Regeln des Haltezugs kann z.B. dadurch geschehen, daß während des Schließvorgangs die Drehzahlregelung des Halteseilantriebs als Proportionalregelung wirkt, dieser Drehzahlregelung ein dem Zustand "Greifer heben" entsprechender Drehzahl-Sollwert vorgegeben wird und zur Erhöhung des Haltezugs der Verstärkungsfaktor der Drehzahlregelung erhöht wird.Regulating the stop train can e.g. in that the speed control of the tether drives acts as a proportional control during the closing process, this speed control is given a speed setpoint corresponding to the "lifting the gripper" state and the gain factor of the speed control is increased to increase the stop pull.

Mit Vorteil wird dabei der Haltezug beim Schließen des Greifers bis auf den Nennzug erhöht, der insbesondere gleich dem Zug im Schließseil des Greifers sein kann.Advantageously, when the gripper closes, the holding pull is increased to the nominal pull, which in particular can be equal to the pull in the closing rope of the gripper.

Besonders vorteilhaft wird das Beendigen des Schließvorgangs, also der Zeitpunkt des Anhebens des Greifers, lastabhängig bestimmt, also die lastbedingten Seillängungen berücksichtigt.The termination of the closing process, that is to say the point in time at which the gripper is raised, is determined in a particularly advantageous manner as a function of the load, that is to say the load-related rope elongations are taken into account.

Zur Erläuterung der Erfindung wird im folgenden ein Ausführungsbeispiel beschrieben. Dabei zeigen:

FIG 1
den Aufbau eines Umschlaggeräts mit einer Seilzugkatze,
FIG 2
den Aufbau des Greifers eines Umschlaggeräts,
FIG 3
den Zugverlauf in Halte- und Schließseil während eines Schließvorgangs und
FIG 4
den Aufbau der Seilregelung.
An exemplary embodiment is described below to explain the invention. Show:
FIG. 1
the construction of a handling device with a cable trolley,
FIG 2
the structure of the gripper of a handling device,
FIG 3
the course of the train in the holding and closing rope during a closing process and
FIG 4
the structure of the rope control.

Gemäß FIG 1 besteht ein Schüttgut-Umschlaggerät 1 im wesentlichen aus einem mechanisch starren Gerüst 2, einer Laufkatze, hier einer Seilzugkatze 3, einem Greifer 4 sowie den Antrieben 5, 5', 5'' für Katzseil 6, Schließseil 6' und Halteseil 6'' des Greifers 4 mit der zugehörigen Antriebsregelung. Die Antriebsregelung erfolgt vorteilhaft durch eine Automatisiereinheit 7, z.B. eine speicherprogrammierbare Steuerung oder einen PC. Die Antriebe 5, 5',5'' sind dabei vorteilhaft als umrichtergespeiste Drehstrom-Asynchronmotoren ausgebildet.According to FIG. 1, a bulk material handling device 1 essentially consists of a mechanically rigid frame 2, a trolley, here a cable trolley 3, a gripper 4 and the drives 5, 5 ', 5' 'for cat rope 6, closing rope 6' and tether 6 '' of the gripper 4 with the associated drive control. The drive control is advantageously carried out by an automation unit 7, e.g. a programmable logic controller or a PC. The drives 5, 5 ', 5' 'are advantageously designed as converter-fed three-phase asynchronous motors.

Auf der Katze 3 sind Umlenkrollen 8', 8'' für die Greiferseile 6', 6'' angeordnet. Am äußeren Ende des Umschlaggeräts 1 ist eine Umlenkrolle 8 für das Katzseil 6 angeordnet.Deflection rollers 8 ', 8' 'for the gripper ropes 6', 6 '' are arranged on the cat 3. At the outer end of the handling device 1, a deflection roller 8 for the cat rope 6 is arranged.

FIG 2 zeigt den Greifer 4 in einem Zustand, der beispielsweise einem Schließgrad von 75 % entspricht, über einem Schüttgut 9. Ein Schließgrad von 0 % bedeutet dabei einen offenen, ein Schließgrad von 100 % einen geschlossenen Greifer 4.2 shows the gripper 4 in a state which, for example, corresponds to a degree of closure of 75%, over a bulk material 9. A degree of closure of 0% means an open, a degree of closure of 100% a closed gripper 4.

Der Greifer 4 besteht im wesentlichen aus 2 Greiferschalen 41, 41', die an ihrem spitzen Ende z.B. mit einer Steckachse 45 miteinander verbunden sind. Des weiteren sind die Greiferschalen 41, 41' an Befestungspunkten 42, 42' über Seile 43, 43' mit einer Querstange 44 verbunden, an der das Halteseils 6'' befestigt ist. Das Schließseil 6' wird über an der Querstange 44 und der Achse 45 befestigte Umlenkrollen 46, die als Flaschenzug wirken, geführt. Das Ende des Schließzeils 6' kann dabei an der Querstange 44 oder an der Achse 45 befestigt sein.The gripper 4 essentially consists of 2 gripper shells 41, 41 'which are connected to one another at their pointed end, for example with a plug-in axis 45. Furthermore, the gripper shells 41, 41 'are connected at fastening points 42, 42' via cables 43, 43 'to a crossbar 44 to which the tether 6''is fastened. The closing rope 6 'is guided over deflection pulleys 46, which act on the crossbar 44 and the axis 45 and act as a pulley block. The end of the closing line 6 'can be attached to the crossbar 44 or to the axis 45.

Der Greifer 4 wird durch eine entsprechende Regelung des Antriebs geöffnet, bevor er auf dem Schüttgut 9 aufsetzt. Hierzu wird das Schließseil 6' - relativ zum Halteseil 6''- nachgelassen, so daß sich die Greiferschalen 41, 41' öffnen.The gripper 4 is opened by a corresponding control of the drive before it touches the bulk material 9. For this purpose, the closing rope 6 '- relative to the tether 6' '- is lowered so that the gripper shells 41, 41' open.

Nachdem der Greifer 4 auf dem Schüttgut 9 aufgesetzt hat, werden die Greiferseile 6', 6'' nachgelassen, damit der Greifer 4 in das Schüttgut 9 einsinken kann. Hierbei bildet sich in den Greiferseilen 6', 6'' Schlaffseil.After the gripper 4 has placed on the bulk material 9, the gripper ropes 6 ′, 6 ″ are released so that the gripper 4 can sink into the bulk material 9. Slack rope is formed in the gripper ropes 6 ', 6' '.

Nach einer gewissen Zeit, typisch mehrere Sekunden, wenn der Greifer 4 in das Schüttgut 9 eingesunken ist, wird der Greifer 4 durch Einholen des Schließseils 6' geschlossen. Gleichzeitig wird eine Zugregelung des Halteseils 6'' derart vorgenommen, daß das Schlaffseil des Halteseils 6'' eingeholt wird, bis das Halteseil 6'' mit einem vorwählbaren Haltezug Fmin beaufschlagt ist, der deutlich kleiner ist als der zum Heben der Nennlast benötigte Nennzug, z.B. 10 % des Nennzugs.After a certain time, typically several seconds, when the gripper 4 has sunk into the bulk material 9, the gripper 4 is closed by pulling in the closing rope 6 '. At the same time, a tension control of the tether 6 '' is carried out in such a way that the slack rope of the tether 6 '' is brought in until the tether 6 '' is acted upon by a preselectable tether F min which is significantly smaller than the nominal tension required to raise the nominal load , eg 10% of the nominal train.

Das eventuell vorhandene Schlaffseil des Schließseils 6' wird beim Schließen des Greifers 4 automatisch eingeholt. Der Übergang vom Einholen des Schlaffseils zum Schließen des Greifers 4 ist unkritisch, da der benötigte Zug Fs im Schließseil 6' nicht abrupt, sondern kontinuierlich ansteigt. Dies wird bei der Beschreibung der FIG 3 noch ausführlich erläutert werden. Ab einem vorwählbaren Schließgrad des Greifers 4, z.B. 60 %, wird der Haltezug Fh im Halteseil 6'' allmählich erhöht, um einen weichen Übergang zum Heben des Greifers 4 zu gewährleisten. Durch die allmähliche Erhöhung des Haltezugs Fh wird erreicht, daß eventuell vorhandenes Schlaffseil eingeholt ist, insbesondere daß der Durchhang des Halteseils 6'' zwischen Halteseilantrieb 5'' und Umlenkrolle 8'' beseitigt ist, ehe der Halteseilantrieb 5'' mit dem Greifer 4 über das Halteseil 6'' kraftschlüssig wird. Kraftspitzen in Halteseil 6'', Halteseilantrieb 5'', Umlenkrolle 8'' usw. werden deutlich reduziert. Weiterhin wird ein Ausschlagen des Halteseils 6'' vermieden.The slack rope of the closing rope 6 'which may be present is automatically taken up when the gripper 4 is closed. The transition from pulling in the slack rope to closing the gripper 4 is not critical, since the required train F s in the closing rope 6 'does not increase abruptly, but continuously. This will be explained in detail in the description of FIG. 3. From a preselectable degree of closure of the gripper 4, for example 60%, the holding pull F h in the tether 6 ″ is gradually increased in order to ensure a smooth transition to the lifting of the gripper 4. The gradual increase in the holding cable F h ensures that any slack rope that may be present is caught, in particular that the sag of the holding cable 6 ″ between the holding cable drive 5 ″ and the deflection roller 8 ″ is eliminated before the holding cable drive 5 ″ with the gripper 4 is non-positive via the tether 6 ''. Power peaks in tether 6 '', tether drive 5 '', pulley 8 '' etc. are significantly reduced. Furthermore, knocking out of the tether 6 ″ is avoided.

Der Zug Fh im Halteseil 6'' wird stetig geregelt bis auf einen vorwählbaren maximalen Haltezug Fmax erhöht, der z.B. gleich dem Nennzug oder gleich dem Zug Fs im Schließseil 6' des Greifers 4 sein kann.The pull F h in the tether 6 ″ is continuously regulated up to a preselectable maximum towing pull F max , which can be, for example, the same as the nominal pull or the pull F s in the closing rope 6 ′ of the gripper 4.

Wenn der Greifer 4 ganz geschlossen ist, der Schließgrad also 100 % beträgt, wird der Greifer 4 gehoben, die Greiferseile 6', 6'' also mit dem vollen Zug beaufschlagt.When the gripper 4 is completely closed, ie the degree of closure is 100%, the gripper 4 is raised, the gripper cables 6 ', 6' 'are thus subjected to the full pull.

FIG 3 zeigt den Zugverlauf in den Greiferseilen 6', 6'' während eines Schließvorgangs. Dabei bedeutet die durchgezogene Linie den Zugverlauf im Halteseil 6'' und die gestrichelte Linie den Zugverlauf im Schließseil 6'.3 shows the course of the train in the gripper ropes 6 ', 6' 'during a closing operation. The solid line means the course of the traction in the tether 6 ″ and the dashed line means the course of the traction in the closing rope 6 ″.

Vor der Zeit t₁ wird der geöffnete Greifer 4 auf das Schüttgut 9 abgesenkt. Der Zug Fs im Schließseil 6' ist sehr gering. Der Zug Fh im Halteseil 6'' ist durch das Eigengewicht des Greifers 4 verursacht.Before the time t₁, the open gripper 4 is lowered onto the bulk material 9. The train F s in the closing rope 6 'is very small. The train F h in the tether 6 ″ is caused by the weight of the gripper 4.

Nach dem Aufsetzen des Greifers 4 auf das Schüttgut 9, also nach der Zeit t₁, werden die Greiferseile 6', 6'' noch nachgelassen, bis z.B. die Züge Fh, Fs in den Greiferseilen 6', 6'' nur noch dem Eigengewicht der Greiferseile 6', 6'' entsprechen, damit der Greifer 4 in das Schüttgut 9 einsinken kann.After placing the gripper 4 on the bulk material 9, that is, after the time t 1, the gripper ropes 6 ', 6''are still released until, for example, the trains F h , F s in the gripper ropes 6', 6 '' only Correspond to the dead weight of the gripper ropes 6 ', 6''so that the gripper 4 can sink into the bulk material 9.

Ab der Zeit t₂ wird der Greifer 4 geschlossen. Der Schließzug Fs steigt dabei stetig an. Der Schließzug Fs im Schließseil 6' wird dabei über den von den Umlenkrollen 46 gebildeten Flaschenzug, der vorzugsweise mit 3 bis 7facher Untersetzung, insbesondere mit 4facher Untersetzung, ausgelegt ist, verstärkt. Ohne Untersetzung würde der Greifer 4 allein vom Schließseil 6' aus dem Schüttgut 9 gehoben, noch ehe der Greifer 4 ganz geschlossen ist, da der zum Schließen des Greifers 4 benötigte Schließzug Fs den Nennzug deutlich übersteigt.From the time t₂, the gripper 4 is closed. The closing train F s rises steadily. The closing cable F s in the closing cable 6 'is thereby reinforced via the pulley block formed by the deflection rollers 46, which is preferably designed with 3 to 7-fold reduction, in particular with 4-fold reduction. Without reduction, the gripper 4 would be lifted from the bulk material 9 solely by the closing rope 6 'before the gripper 4 is completely closed, since the closing pull F s required to close the gripper 4 clearly exceeds the nominal pull.

Ebenfalls ab der Zeit t₂ wird das Schlaffseil des Halteseils 6'' mit einer bekannten Schlaffseilregelung eingeholt, bis das Halteseil 6'' ab der Zeit t₃ mit einem Haltezug Fmin beaufschlagt ist, der deutlich geringer als der Nennzug ist. Ab der Zeit t₄, bei der der Greifer 4 zu über 50 % geschlossen ist, z.B. zu 60 %, wird der Haltezug Fh im Halteseil 6'' stetig geregelt bis auf einen maximalen Haltezug Fmax erhöht, der z.B. gleich dem maximalen Schließzug ist. Durch die Erhöhung des Haltezugs Fh wird das Schlaffseil des Halteseils 6'' allmählich eingeholt, so daß beim Kraftschlüssigwerden kein Ruck auftritt.Also from the time t₂ the slack of the tether 6 "is overtaken with a known slack rope control until the tether 6" from the time t₃ is acted upon by a tether F min, which is significantly less than the nominal tug. From the time t₄ at which the gripper 4 is closed to more than 50%, for example 60%, the holding pull F h in the holding rope 6 '' is continuously regulated up to a maximum holding pull F max , which is, for example, equal to the maximum closing pull . By increasing the tether F h , the slack of the tether 6 '' is gradually brought in, so that no jerk occurs when the force is applied.

Zum Zeitpunkt t₅ ist der Greifer ganz geschlossen und wird angehoben. Mit Vorteil wird beim Heben eine Zugausgleichsregelung aktiviert, so daß der Gesamtzug Fh + Fs in einem vorgegebenen Verhältnis, vorzugsweise 50:50, auf die Greiferseile 6', 6'' verteilt wird.At time t₅ the gripper is completely closed and is raised. A tension compensation control is advantageously activated when lifting, so that the total tension F h + F s is distributed in a predetermined ratio, preferably 50:50, to the gripper ropes 6 ', 6''.

Durch die Gesamtheit der geschilderten Maßnahmen können die Antriebe 5', 5'' für die Greiferseile 6', 6'', die Greiferseile 6', 6'' selbst, die Umlenkrollen 8', 8'' und in der Folge auch die Katze 3, das Katzseil 6 und der Katzantrieb 5 kleiner und damit auch billiger ausgelegt werden.Due to the entirety of the measures described, the drives 5 ', 5' 'for the gripper ropes 6', 6 '', the gripper ropes 6 ', 6' 'themselves, the deflection rollers 8', 8 '' and subsequently also the trolley 3, the cat rope 6 and the cat drive 5 can be designed smaller and thus also cheaper.

Der Aufbau der Greiferseilregelung ist in FIG 4 dargestellt. Der Aufbau der Katzseilregelung ist aus Gründen der Übersichtlichkeit nicht dargestellt. Er ist analog zum Aufbau der Greiferseilregelung ausgebildet.The structure of the gripper rope control is shown in FIG. 4. The structure of the cat rope control is not shown for reasons of clarity. It is designed in the same way as the structure of the rapier control.

Die Greiferseilregelung weist folgende Elemente auf:

  • für beide Seile 6', 6'' je einen Lageregler 10', 10'', einen Hochlaufgeber 11', 11'', einen Drehzahlregler 14', 14'' und einen Stromregler 15', 15'';
  • für das Schließseil 6' einen Addierer 13' und einen Differenzbildner 16';
  • einen Ausgleichsregler 12;
  • eine übergeordnete Steuereinheit 17.
The grab rope control has the following elements:
  • a position controller 10 ', 10'', a ramp generator 11', 11 '', a speed controller 14 ', 14''and a current controller 15', 15 '' for each of the two cables 6 ', 6'';
  • for the closing rope 6 'an adder 13' and a difference former 16 ';
  • a balance controller 12;
  • a higher-level control unit 17.

Die Steuereinheit 17 liefert den Sollwert für die Länge h* des Halteseils 6'' und den Sollwert

Figure imgb0001

für die Längendifferenz von Schließseil 6' und Halteseil 6''. Des weiteren schaltet die Steuereinheit 17 den Drehzahlregler 14'' und den Ausgleichsregler 12.The control unit 17 supplies the target value for the length h * of the tether 6 ″ and the target value
Figure imgb0001

for the length difference between the closing rope 6 'and the retaining rope 6''. Furthermore, the control unit 17 switches the speed controller 14 ″ and the compensation controller 12.

Die Steuereinheit 17 liefert eine zeitabhängige Halteseil-Sollänge h* an den Lageregler 10'', der die Differenz Δh aus Halteseil-Sollänge h* und Halteseil-Istlänge h bildet und an den Hochlaufgeber 11'' weiterleitet. Vom Hochlaufgeber 11'' wird ein Drehzahl-Sollwert n * h

Figure imgb0002
ausgegeben, der an den Drehzahlregler 14'' und an den Addierer 13' weitergeleitet. Der Drehzahlregler 14'' vergleicht den Drehzahl-Istwert nh des Halteseilantriebs 5'' mit dem Drehzahl-Sollwert nh* und liefert an den Stromregler 15'' einen Strom-Sollwert Ih*, der von der Betriebsart des Drehzahlreglers 14'' und gegebenenfalls auch vom Schließgrad des Greifers bzw., was äquivalent ist, von der effektiven Längendifferenz seff der Greiferseile 6', 6'' abhängt. Der Stromregler 15'' regelt den Strom für den Halteseilantrieb 5''.The control unit 17 supplies a time-dependent tether length h * to the position controller 10 ″, which forms the difference Δh from the tether length h * and the actual tether length h and forwards it to the ramp generator 11 ″. A speed setpoint n * H
Figure imgb0002
 issued, which is forwarded to the speed controller 14 '' and to the adder 13 '. The speed controller 14 ″ compares the actual speed value n h of the tether drive 5 ″ with the speed command value n h * and supplies the current controller 15 ″ with a current command value I h * which depends on the operating mode of the speed controller 14 ″. and possibly also depends on the degree of closure of the gripper or, which is equivalent, on the effective length difference s eff of the gripper ropes 6 ', 6''. The current regulator 15 ″ regulates the current for the tether drive 5 ″.

Die Regelung des Schließseilantriebs 5' erfolgt analog zur Regelung des Halteseilantriebs 5'', wobei folgende Unterschiede bestehen:

  • a) Der von der Steuereinheit 17 gelieferte Sollwert
    Figure imgb0003
    gibt die Differenz der Längen von Schließseil 6' und Halteseil 6'' an.
  • b) Die Längendifferenz seff zwischen Halteseil 6'' und Schließseil 6' wird in einem Differenzbildner 16' berechnet, der als Eingangssignale die Istlängen h, s vom Halteseil 6'' und Schließseil 6' erhält. Bei der Bestimmung der Längendifferenz seff, also des Schließgrades, werden mit Vorteil die gemessenen Züge Fh, Fs im Halteseil 6'' und Schließseil 6' berücksichtigt, so daß in Verbindung mit den Dehnungskoeffizienten der Seile 6', 6'' die Seillängungen bestimmbar und bei der Berechnung der Längendifferenz seff berücksichtigbar sind.
  • c) Die Schließseilregelung weist einen Addierer 13' auf , der die Summe des vom Hochlaufgeber 11'' gelieferten Drehzahl-Sollwerts nh* und des vom Hochlaufgeber 11'' gelieferten Drehzahl-Sollwerts Δns* als neuen Drehzahl-Sollwert ns* an den Drehzahlregler 14' für den Schließseilantrieb 5' liefert.
The control of the closing cable drive 5 'takes place analogously to the control of the tether cable drive 5'', with the following differences:
  • a) The setpoint supplied by the control unit 17
    Figure imgb0003
    specifies the difference in the lengths of the closing rope 6 'and tether 6''.
  • b) The length difference s eff between the tether 6 ″ and the closing rope 6 ′ is calculated in a difference former 16 ′, which receives the actual lengths h, s from the tether 6 ″ and the closing rope 6 ′ as input signals. When determining the length difference s eff , i.e. the degree of closure, the measured traction F h , F s in the tether 6 '' and the closure rope 6 'are advantageously taken into account, so that in conjunction with the expansion coefficients of the ropes 6', 6 '' Rope lengths can be determined and taken into account when calculating the length difference s eff .
  • c) The closing rope control has an adder 13 ', which indicates the sum of the speed setpoint n h * supplied by the ramp generator 11''and the speed setpoint Δn s * supplied by the ramp generator 11''as a new speed setpoint n s * provides the speed controller 14 'for the closing rope drive 5'.

Zum Schließen des Greifers 4 wird dem Lageregler 10' von der Steuereinheit 17 ein entsprechender Sollwert

Figure imgb0004

vorgegeben. Gleichzeitig wird der Drehzahlregler 14'', der normalerweise als PI-Regler betrieben wird, durch Senden des Signals mh so geschaltet, daß er als P-Regler mit schwacher Verstärkung arbeitet. Weiterhin wird dem Lageregler 10'' ein Sollwert h* vorgegeben, der dem Zustand "Greifer heben" entspricht. Hierdurch wird vom Hochlaufgeber 11'' ein ebenfalls dem Zustand "Greifer heben" entsprechender Drehzahl-Sollwert n * h
Figure imgb0005
 an den Drehzahlregler 14'' gegeben. Der Drehzahl-Sollwert n * h
Figure imgb0006
 kann auch direkt von der Steuereinheit 17 vorgegeben werden, wie durch die gestrichelte Linie in FIG 4 angedeutet ist. Durch diese Maßnahmen wird erreicht, daß das Schlaffseil des Halteseils 6'' eingeholt wird und das Halteseil 6'' mit einem geringen Haltezug Fmin beaufschlagt wird. In Abhängigkeit vom Schließgrad, der proportional zu seff ist, wird die Verstärkung des Drehzahlreglers 14'' ab einem vorwählbaren Schließgrad erhöht, so daß sich der Haltezug Fh stetig geregelt bis auf einen maximalen Haltezug Fmax erhöht.To close the gripper 4, the position controller 10 ′ receives a corresponding setpoint from the control unit 17
Figure imgb0004

given. At the same time, the speed controller 14 ″, which is normally operated as a PI controller, is switched by sending the signal m h so that it works as a P controller with weak amplification. Furthermore, the position controller 10 ″ is given a setpoint h * which corresponds to the “lifting gripper” state. As a result, the ramp generator 11 ″ also produces a speed setpoint n corresponding to the “lifting gripper” state * H
Figure imgb0005
 given to the speed controller 14 ''. The speed setpoint n * H
Figure imgb0006
 can also be specified directly by the control unit 17, as indicated by the broken line in FIG. 4. These measures ensure that the slack rope of the tether 6 ″ is brought in and the tether 6 ″ is subjected to a slight tether F min . Depending on the degree of closure, which is proportional to s eff , the gain of the speed controller 14 ″ is increased from a preselectable degree of closure, so that the stop pull F h is continuously regulated up to a maximum stop pull F max .

Wenn der Greifer 4 ganz geschlossen ist, der berechnete Schließgrad also 100 % beträgt, wird der Drehzahlregler 14'' wieder als PI-Regler geschaltet und der Greifer 4 angehoben. Der Hebebefehl erfolgt durch Vorgeben eines entsprechenden Sollwertes h* durch die Steuereinheit 17.When the gripper 4 is completely closed, that is to say the calculated degree of closure is 100%, the speed controller 14 ″ is again switched as a PI controller and the gripper 4 is raised. The lifting command is given by the control unit 17 specifying a corresponding target value h *.

Beim Heben des Greifers 4 wird von der Steuereinheit 17 durch das Signal ma die Ausgleichsregelung 12 aktiviert, die einen Zugausgleich zwischen Halteseil 6'' und Schließseil 6' bewirkt. Jedes Seil trägt nur einen Teil der Last, z.B. nur die halbe Last. Um den Zug in den Greiferseilen 6', 6'' auszugleichen, wird nötigenfalls der Drehzahlregler 14' vom Ausgleichsregler 12 mit einem Drehzahl-Zusatzsollwert Δns** beaufschlagt. Der Lageregler 10' und der Hochlaufgeber 11' werden dabei entweder über-steuert oder deaktiviert.When the gripper 4 is lifted, the control unit 17 activates the compensation control 12 by the signal m a, which compensates for tension between the tether 6 ″ and the closing rope 6 ′. Each rope only carries part of the load, e.g. only half Load. In order to compensate for the train in the gripper ropes 6 ', 6'', the speed controller 14' is acted upon by the compensation controller 12 with an additional speed setpoint Δn s ** if necessary. The position controller 10 'and the ramp generator 11' are either overridden or deactivated.

Die aktuellen Zustandsdaten des Umschlaggeräts, sowohl Ist- als auch Sollwerte, sind auf einem nicht dargestellten Monitor im Führerstand anzeigbar, so daß der Geräteführer eingreifen kann, falls dies erforderlich ist.The current status data of the handling device, both actual and target values, can be displayed on a monitor, not shown, in the driver's cab, so that the device operator can intervene if necessary.

Abschließend sei noch erwähnt, daß die gesamte Antriebsregelung in der Automatisiereinheit 7 softwaremäßig realisierbar ist, jedoch auch hardwaremäßig aufgebaut sein kann.Finally, it should also be mentioned that the entire drive control in the automation unit 7 can be implemented in software, but can also be constructed in hardware.

Claims (8)

  1. Tension control for the grab cables (6',6'') of a transit device (1) for bulk material with grab (4) and electrical, position-controlled and speed-controlled cable drives (5,5',5''), in particular a transit device (1) for bulk material with a cable-drawn crab (3), whereby the grab (4) has a holding cable (6'') and a closing cable (6') and whereby the tension control at the beginning of a closing procedure of the grab (4) operates in such a way that the holding cable (6'') is hauled in or slackened until the holding cable (6'') is loaded with a holding tension (Fh), the preselectable starting value (Fmin) of which is substantially smaller than the nominal tension, characterized in that the holding tension (Fh) during the closing procedure, controlled after a preselectable degree of closing of the grab (4), is constantly increased up to a preselectable maximum holding tension (Fmax).
  2. Tension control according to claim 1, characterized in that during the closing procedure, to control the holding tension (Fh) the speed control of the holding-cable drive (5'') operates as proportional control, a desired speed value (n * h
    Figure imgb0008
    ) corresponding to the state "lift grab" is specified for this speed control and to increase the holding tension (Fh) the amplification factor of the proportional control is increased.
  3. Tension control according to claim 1 or 2, characterized in that the maximum holding tension (Fmax) is the nominal tension.
  4. Tension control according to claim 1, 2 or 3, characterized in that the maximum holding tension (Fmax) is selected in such a way that it equals the closing tension (Fs) in the closing cable (6') of the grab (4).
  5. Tension control according to one or more of the above claims, characterized in that the tensions (Fh, Fs) in the cables (6', 6'') are measured and from this in connection with the cable lengths (h, s) the cable extensions and the degree of closing are determined.
  6. Tension control according to claim 5, characterized in that the grab (4) is lifted upon reaching a calculated degree of closing of 100%.
  7. Tension control according to claim 5 or 6, characterized in that to determine the degree of closing the cable parameters, for example the coefficients of cable extension, and the operational parameters, for example cable tensions (Fh, Fs) and cable lengths (h, s), are used.
  8. Tension control according to one or more of the above claims, characterized in that the control takes place by way of an automation unit (7), for example a memory-programmable control or a PC.
EP19900110154 1990-05-29 1990-05-29 Tension control for the hoist cables of a transfer machine for bulk material Expired - Lifetime EP0458994B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP19900110154 EP0458994B1 (en) 1990-05-29 1990-05-29 Tension control for the hoist cables of a transfer machine for bulk material
ES90110154T ES2070951T3 (en) 1990-05-29 1990-05-29 TRACTION REGULATION FOR THE BUCKET CABLES OF A BULK PRODUCT TRANSFERRING DEVICE.
DE59008943T DE59008943D1 (en) 1990-05-29 1990-05-29 Tension control for the gripper ropes of a bulk material handling device.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19900110154 EP0458994B1 (en) 1990-05-29 1990-05-29 Tension control for the hoist cables of a transfer machine for bulk material

Publications (2)

Publication Number Publication Date
EP0458994A1 EP0458994A1 (en) 1991-12-04
EP0458994B1 true EP0458994B1 (en) 1995-04-19

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Family Applications (1)

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Country Status (3)

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DE (1) DE59008943D1 (en)
ES (1) ES2070951T3 (en)

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Publication number Priority date Publication date Assignee Title
EP2526042B1 (en) 2010-01-19 2017-03-22 AH Industries A/S A method for controlling the orientation of a load suspended from a bearing wire about said bearing wire and a winch arrangement

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DE102009011604A1 (en) * 2009-03-04 2010-09-16 Kirow Ardelt Ag Method and arrangement for influencing the gripper filling volume in hoists with twin-motor gripper hoists
DE102013019761A1 (en) * 2013-11-25 2015-05-28 Liebherr-Werk Nenzing Gmbh Method for influencing the filling volume of a gripper
DE102014110060A1 (en) 2014-07-17 2016-01-21 Terex Mhps Gmbh Filling degree control for a bulk grapple of a crane
CN104891342B (en) * 2015-06-12 2017-07-25 华电重工股份有限公司 Raising switching mechanism and realize the method for raising switching mechanism load balancing, system
DE102019122703A1 (en) * 2019-08-23 2021-02-25 Johannes Hübner Fabrik elektrischer Maschinen GmbH Control unit and method for operating a conveyor

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DE406584C (en) * 1923-11-01 1924-12-03 Siemens Schuckertwerke G M B H Device to prevent undesired opening of two-rope grabs
DE1120660B (en) * 1959-04-15 1961-12-28 Demag Ag Device for avoiding slack ropes and bumps in multi-rope grab hoists operated by electric motors
DE1169100B (en) * 1961-10-21 1964-04-30 Bbc Brown Boveri & Cie Circuit arrangement for grab control of a loading crane
DE1231399B (en) * 1964-02-25 1966-12-29 Demag Zug Gmbh Control for a multi-rope grab with separate grab winches with closing motor and holding motor
US4231698A (en) * 1978-01-09 1980-11-04 Pettibone Corporation System for one-hand control of two winches during hoisting of closed clamshell, with differentiation
JPS6318983A (en) * 1986-07-09 1988-01-26 Mitsubishi Electric Corp Controller for driving motor
JPS6416284A (en) * 1987-07-09 1989-01-19 Matsushita Electric Ind Co Ltd Servomotor controller
JPS6489983A (en) * 1987-09-30 1989-04-05 Toshiba Corp Speed controller for motor

Cited By (1)

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Publication number Priority date Publication date Assignee Title
EP2526042B1 (en) 2010-01-19 2017-03-22 AH Industries A/S A method for controlling the orientation of a load suspended from a bearing wire about said bearing wire and a winch arrangement

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Publication number Publication date
ES2070951T3 (en) 1995-06-16
EP0458994A1 (en) 1991-12-04
DE59008943D1 (en) 1995-05-24

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