EP3176122A1 - Procede de commande d'une machine d'extraction, machine d'extraction et dispositif de commande d'entrainement d'une machine d'extraction - Google Patents

Procede de commande d'une machine d'extraction, machine d'extraction et dispositif de commande d'entrainement d'une machine d'extraction Download PDF

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Publication number
EP3176122A1
EP3176122A1 EP15197467.2A EP15197467A EP3176122A1 EP 3176122 A1 EP3176122 A1 EP 3176122A1 EP 15197467 A EP15197467 A EP 15197467A EP 3176122 A1 EP3176122 A1 EP 3176122A1
Authority
EP
European Patent Office
Prior art keywords
carrier
rope
drive
unloading
conveyor
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.)
Withdrawn
Application number
EP15197467.2A
Other languages
German (de)
English (en)
Inventor
Norbert Becker
Roland Gebhard
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=55022255&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP3176122(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Priority to EP15197467.2A priority Critical patent/EP3176122A1/fr
Priority to CN201680070349.XA priority patent/CN108290717B/zh
Priority to RU2018120354A priority patent/RU2700906C1/ru
Priority to AU2016363478A priority patent/AU2016363478B2/en
Priority to LT16797768T priority patent/LT3365262T/lt
Priority to PCT/EP2016/076500 priority patent/WO2017092959A1/fr
Priority to RSP20191304 priority patent/RS59438B1/sr
Priority to CA3006961A priority patent/CA3006961C/fr
Priority to PL16797768T priority patent/PL3365262T3/pl
Priority to EP16797768.5A priority patent/EP3365262B1/fr
Publication of EP3176122A1 publication Critical patent/EP3176122A1/fr
Priority to ZA2018/03558A priority patent/ZA201803558B/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
    • B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B17/00—Hoistway equipment
    • B66B17/14—Applications of loading and unloading equipment
    • B66B17/26—Applications of loading and unloading equipment for loading or unloading mining-hoist skips

Definitions

  • the invention relates to a method for controlling a carrier, in particular for a shaft conveyor system, comprising a drive with an associated control device, a cable carrier, at least one hoisting rope and at least one conveying vessel arranged on the hoisting rope for the vertical transport of conveyed goods.
  • the invention further relates to a carrier and a control device for driving the drive of a carrier.
  • Such a carrier goes for example from the DE 10 2004 058 757 A1 out.
  • a shaft conveyor system which has a motor associated with a pulley, which leads a conveyor rope for funding. Furthermore, the shaft conveyor system is equipped with at least one pulse counter, which derived from the rotational movement determines a current path value and a current speed value of the conveyor. Furthermore, the shaft conveyor system is controlled and / or monitored by means of an electrical automation system, wherein the automation system for operation has a digital speed controller for calculating setpoints for a control of the motor.
  • Conveyor rope lengths have a number of disadvantages.
  • the bucket and thus the hoisting rope begin to swing vertically.
  • the bucket during loading moves downwards away from the optimal loading position.
  • Secondary effects also occur: a swinging hoisting rope has a negative effect on the speed and torque control of the drive and the service life of the hoisting rope can be negatively affected. Due to the vertical vibrations, it may be necessary to extend the crosstalk or reduce the acceleration to minimize wear of the mechanism or to avoid damage. In addition, additional horizontal vibrations can occur while driving in the shaft. With regard to the loading and unloading process, it also applies that if the bucket is outside the optimum position, the material may fall past the bucket into the hoistway.
  • the invention is therefore based on the object to ensure a height compensation of a delivery vessel during loading and unloading of the delivery containers of a carrier.
  • the object is achieved by a method for driving a carrier, in particular for a shaft conveyor, comprising a drive with an associated control device, a cable carrier, at least one hoisting rope and at least one arranged on the hoist conveyor vessel for the vertical transport of conveyed, wherein during loading or Unloading the at least one bucket of the drive remains switched on and to compensate for a change in the length of the feed rope, a rotation angle of the cable carrier is continuously adjusted based on a predetermined rotation angle course.
  • a carrier in particular for a shaft conveyor, comprising a drive with a control device suitable for carrying out such a method.
  • control device for controlling a drive of a carrier, in particular for a shaft conveyor system, suitable for carrying out such a method.
  • the invention is based on the consideration that a vertical offset of a bucket relative to the loading position due to the elongation of the hoisting rope can be compensated by the bucket is moved at the appropriate speed in the direction of the drive.
  • the bucket can be moved away from the drive, since the hoisting rope contracts again due to the ever decreasing load.
  • a manipulated variable for the control of the carrier while a rotation angle, or a speed setpoint of the cable carrier is set so that the delivery cable length is varied by the rotation of the cable carrier.
  • the bucket remains in its optimal loading position and does not stimulate vertical vibration.
  • the drive or a converter of the carrier machine remains switched on during the loading or unloading process.
  • a mechanical brake device is not applied, so that wear of the brake elements is avoided.
  • dead times resulting from the imposition and release of the braking device are avoided, and the duration of the delivery cycle is reduced.
  • the rotation angle course of the cable carrier required for this compensation process is predetermined and deposited.
  • a speed setpoint curve is stored on the basis of which a desired torque profile is calculated, which is imposed on the drive during the loading or unloading process.
  • the drive in turn controls the cable carrier with respect to a change in the angle of rotation.
  • the method is characterized in particular by precise setpoints and easy retrofitting and calibration.
  • Another advantage is that the target torque (holding torque) is built up relatively slowly. The torque build-up takes place evenly within 20 to 30 seconds (for comparison, the torque build-up when opening the brake device is i.d.R. in about 200 msec). As a result, the shock load for both the electrical system (transformer, inverter, motor) and for the mechanical components of the carrier is lower.
  • the rotational angle profile is determined by first a braking device of the carrier is actuated in the loading or unloading of the at least one bucket a change in the feed rope length is measured and from the rotation angle curve is calculated for the cable carrier.
  • the vertical bucket offset by the drive in the context of a controlled movement without the installation of additional sensors that measure the actual values of the carrier compensated. This method is applicable to most carriers, since the loading process is usually always the same and the loading is approximately linear.
  • the measurement of the change in the length of the conveyor takes place during installation or maintenance work. It is thus not a continuous determination of the offset of the vessels required, but the balancing Angle of rotation is determined directly and indirectly, ie as such or other associated with him characteristics and parameters, for example, once during commissioning of the carrier and deposited. At a later date during maintenance and repair work on the carrier, the data obtained can be recalibrated.
  • a first measured value for the change of the feed rope length during loading of the at least one conveying vessel is measured, then a second measured value for the change of the feed rope length during unloading of the at least one conveying vessel is measured and in case of deviations between
  • the mean value of both fair values is determined as a change in the length of the conveyor rope to be compensated.
  • the carrier has at least two delivery vessels and the compensation of the change in the delivery rope length is carried out for all delivery vessels.
  • the carrier has at least two delivery vessels and the compensation of the change in the delivery rope length is carried out for all delivery vessels.
  • the carrier has two delivery vessels and the loading of one of the delivery vessels and the unloading of the other delivery vessel take place simultaneously.
  • the carrier 2 for a shaft conveyor.
  • the carrier has a drive 4, which is controlled by a control device 6.
  • the carrier 2 in the embodiment shown also comprises a cable carrier 8, which is driven by the drive 4, and a conveyor rope 10 with two conveying vessels 12, 14 for the vertical transport of not shown here in detail conveyed material, e.g. Coal or ore.
  • the transport vessels 12, 14 can also be used to transport people.
  • the carrier 2 is in this case suitable for the transport of goods between 200 m and 4000 m in a shaft not shown in detail.
  • the conveying vessels 12, 14 are usually alternately loaded in the shaft at a lower holding point H 2 , conveyed upwards and unloaded at a higher holding point H 1. Up to 80 t are loaded or unloaded at about 1 t / sec.
  • the cable carrier 8 is rotated by the drive 4 still switched on during the unloading process so that the conveying vessel 12 moves away from the conveyor vessel 12 at the same speed with which the conveying vessel 12 moves "upwards" Cable carrier 8 is shut down.
  • the drive 4 remains active during loading or unloading.
  • a braking device, not shown here, of the carrier 2 is not actuated.
  • the control device 6 acts on the drive 4 continuously with a predetermined setpoint torque, which causes a rotation of the cable carrier 8.
  • the movement of the cable carrier 8 is illustrated in the figure by the angle ⁇ .
  • the rotation of the cable carrier 8 by the angle ⁇ causes the delivery vessel 12 always remains in the same vertical position H 1 during unloading despite the ever-shortening conveyor rope 10.
  • the rope elongation on the side of the loading vessel 14 to be loaded is compensated for by moving the conveying vessel 14 at the appropriate speed in the direction of the cable carrier 8 while the drive 4 is still active.
  • the result of this compensation movement of the cable carrier 8 is that the conveying vessel 14 also remains in the same vertical position H 2 during the entire loading process.
  • both conveying vessels 12, 14 are loaded or unloaded in parallel, therefore, a rotation of the Seilongs 8 by the angle ⁇ sufficient to simultaneously compensate for the changes in the originallyseilbine on both sides of the cable carrier 8.
  • the nominal torque will possibly change its direction during this process.
  • the hoisting rope 10 expands by about 1 meter per 1000 m rope length.
  • the loading takes about 0.5 to 1 sec per ton.
  • the carrier 2 is moved at a speed of about 0.05 m / sec for about 20 seconds.
  • the drive 4 is actuated alternately in order to compensate for the respective vertical displacement of the conveying vessel which is currently in use.
  • both the elongation and the relaxation of the hoisting rope 10 with respect to a bucket 12, 14 is measured, it may happen that due to the different height H 1 , H 2 of the bucket during loading and unloading the extension and the relaxation of the hoisting rope differ from each other. Therefore, in particular a first measured value for changing the length of the conveyor rope during loading is measured, then a second measured value for changing the length of the conveyor rope during unloading is measured and if there are deviations between the two measured values, the mean value of both measured values is formed and considered as the value to be compensated.
  • the required for the compensation of the change in the length of the hoisting rope 10 rotation angle ⁇ is determined once or at longer intervals of several hundred hours of operation and deposited for the normal operation of the conveyor 2 in the form of parameters for Wegereglung the carrier 2.
  • the required for the compensation of the change in the length of the hoisting rope 10 rotation angle ⁇ is determined once or at longer intervals of several hundred hours of operation and deposited for the normal operation of the conveyor 2 in the form of parameters for Wegereglung the carrier 2.
  • a speed setpoint curve path over time
  • Due to the speed setpoint curve the course of the setpoint torque for the drive 4 is calculated by the control device 6, which is imposed on the drive 4 during operation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control And Safety Of Cranes (AREA)
  • Control Of Conveyors (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)
EP15197467.2A 2015-12-02 2015-12-02 Procede de commande d'une machine d'extraction, machine d'extraction et dispositif de commande d'entrainement d'une machine d'extraction Withdrawn EP3176122A1 (fr)

Priority Applications (11)

Application Number Priority Date Filing Date Title
EP15197467.2A EP3176122A1 (fr) 2015-12-02 2015-12-02 Procede de commande d'une machine d'extraction, machine d'extraction et dispositif de commande d'entrainement d'une machine d'extraction
EP16797768.5A EP3365262B1 (fr) 2015-12-02 2016-11-03 Procédé de commande d'une machine de levage, machine de levage et dispositif de commande d'entraînement d'une machine de levage
LT16797768T LT3365262T (lt) 2015-12-02 2016-11-03 Kėlimo įrenginio valdymo būdas, kėlimo įrenginys ir valdymo prietaisas kėlimo įrenginio pavaros valdymui
RU2018120354A RU2700906C1 (ru) 2015-12-02 2016-11-03 Способ для управления подъемной машиной, подъемная машина и устройство управления для управления приводом подъемной машины
AU2016363478A AU2016363478B2 (en) 2015-12-02 2016-11-03 Method for actuating a hoist, hoist, and control device for actuating a hoist drive
CN201680070349.XA CN108290717B (zh) 2015-12-02 2016-11-03 提升机驱控方法、提升机和驱控提升机驱动器的控制装置
PCT/EP2016/076500 WO2017092959A1 (fr) 2015-12-02 2016-11-03 Procédé de commande d'une machine d'extraction, machine d'extraction et dispositif de commande permettant de commander l'entraînement d'une machine d'extraction
RSP20191304 RS59438B1 (sr) 2015-12-02 2016-11-03 Postupak za upravljanje mašinom za dizanje, mašina za dizanje kao i upravljački uređaj za upravljanje pogonom mašine za dizanje
CA3006961A CA3006961C (fr) 2015-12-02 2016-11-03 Procede de commande d'une machine d'extraction, machine d'extraction et dispositif de commande permettant de commander l'entrainement d'une machine d'extraction
PL16797768T PL3365262T3 (pl) 2015-12-02 2016-11-03 Sposób sterowania maszyny wyciągowej, maszyna wyciągowa i urządzenie sterujące do sterowania napędu maszyny wyciągowej
ZA2018/03558A ZA201803558B (en) 2015-12-02 2018-05-29 Method for actuating a hoist, hoist, and control device for actuating a hoist drive

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP15197467.2A EP3176122A1 (fr) 2015-12-02 2015-12-02 Procede de commande d'une machine d'extraction, machine d'extraction et dispositif de commande d'entrainement d'une machine d'extraction

Publications (1)

Publication Number Publication Date
EP3176122A1 true EP3176122A1 (fr) 2017-06-07

Family

ID=55022255

Family Applications (2)

Application Number Title Priority Date Filing Date
EP15197467.2A Withdrawn EP3176122A1 (fr) 2015-12-02 2015-12-02 Procede de commande d'une machine d'extraction, machine d'extraction et dispositif de commande d'entrainement d'une machine d'extraction
EP16797768.5A Active EP3365262B1 (fr) 2015-12-02 2016-11-03 Procédé de commande d'une machine de levage, machine de levage et dispositif de commande d'entraînement d'une machine de levage

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP16797768.5A Active EP3365262B1 (fr) 2015-12-02 2016-11-03 Procédé de commande d'une machine de levage, machine de levage et dispositif de commande d'entraînement d'une machine de levage

Country Status (10)

Country Link
EP (2) EP3176122A1 (fr)
CN (1) CN108290717B (fr)
AU (1) AU2016363478B2 (fr)
CA (1) CA3006961C (fr)
LT (1) LT3365262T (fr)
PL (1) PL3365262T3 (fr)
RS (1) RS59438B1 (fr)
RU (1) RU2700906C1 (fr)
WO (1) WO2017092959A1 (fr)
ZA (1) ZA201803558B (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112156722A (zh) * 2020-10-20 2021-01-01 北京石晶光电科技股份有限公司 一种高压釜刷釜机自动控制装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3158228A (en) * 1961-07-18 1964-11-24 Anglo Amer Corp South Africa Rope stretch compensator for suspended conveyances in mine hoisting equipment
DE102004058757A1 (de) 2004-12-06 2005-07-07 Siemens Ag Schachtförderanlage
US20050230192A1 (en) * 2004-04-16 2005-10-20 Brant John S Method and apparatus for improving the leveling performance of an elevator
JP2010208752A (ja) * 2009-03-09 2010-09-24 Toshiba Elevator Co Ltd エレベータ装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11255452A (ja) * 1998-03-12 1999-09-21 Toshiba Fa Syst Eng Corp エレベーターつり合ロープの案内装置
KR100406871B1 (en) * 2003-01-11 2003-12-03 Jeong Du Choi Device for equalizing rope tension of elevator
CN100436298C (zh) * 2003-05-30 2008-11-26 奥蒂斯电梯公司 升运系统及升运系统的连接弹性补偿机构
CN101959783B (zh) * 2008-02-26 2014-03-12 奥蒂斯电梯公司 电梯轿厢再平层期间的动态补偿
CN102398834A (zh) * 2010-09-11 2012-04-04 鲁继成 直连式液压调绳器
CN104995117B (zh) * 2013-02-04 2017-04-12 因温特奥股份公司 具有阻动装置的补偿元件
CN104140019B (zh) * 2014-07-07 2017-05-03 日立电梯（中国）有限公司 电梯轿厢位置的控制装置及方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3158228A (en) * 1961-07-18 1964-11-24 Anglo Amer Corp South Africa Rope stretch compensator for suspended conveyances in mine hoisting equipment
US20050230192A1 (en) * 2004-04-16 2005-10-20 Brant John S Method and apparatus for improving the leveling performance of an elevator
DE102004058757A1 (de) 2004-12-06 2005-07-07 Siemens Ag Schachtförderanlage
JP2010208752A (ja) * 2009-03-09 2010-09-24 Toshiba Elevator Co Ltd エレベータ装置

Also Published As

Publication number Publication date
CN108290717A (zh) 2018-07-17
RU2700906C1 (ru) 2019-09-23
CA3006961C (fr) 2020-04-14
WO2017092959A1 (fr) 2017-06-08
AU2016363478B2 (en) 2019-07-04
EP3365262A1 (fr) 2018-08-29
LT3365262T (lt) 2019-10-25
PL3365262T3 (pl) 2020-03-31
RS59438B1 (sr) 2019-11-29
ZA201803558B (en) 2019-03-27
EP3365262B1 (fr) 2019-08-28
CA3006961A1 (fr) 2017-06-08
AU2016363478A1 (en) 2018-06-14
CN108290717B (zh) 2019-12-06

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