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CN-115605423-B - Method for operating a lifting device and lifting device for carrying out the method

CN115605423BCN 115605423 BCN115605423 BCN 115605423BCN-115605423-B

Abstract

The invention relates to a method for operating a lifting device, wherein the lifting device has a receiving part for receiving an object and a cable which can be wound at least partially onto a drum, wherein the drum can be driven by a drive, wherein the drive has a first sensor, wherein a first position of the receiving part can be determined from a value detected by the first sensor, wherein a second sensor is arranged on the lifting device, wherein a second position of the receiving part can be determined from a value detected by the second sensor, wherein a first difference between the first position and the second position is determined in a first period of time, wherein a second difference between the first position and the second position is determined in a second period of time, wherein an action is triggered if a value of the difference between the first difference and the second difference exceeds an allowable deviation degree.

Inventors

  • S. Pufat

Assignees

  • 索尤若驱动有限及两合公司

Dates

Publication Date
20260508
Application Date
20210419
Priority Date
20200512

Claims (13)

  1. 1. A method for operating a lifting device, wherein the lifting device has a receiving part for receiving an object and a cable which can be wound at least partially onto a drum, the drum being drivable by a drive device, the drive device having a first sensor, a first position of the receiving part being determinable from a value detected by the first sensor, It is characterized in that the method comprises the steps of, A second sensor is arranged on the lifting device, from which value the second sensor detects a second position of the receiving part can be determined, Determining a first difference between the first position and the second position during a first time period, determining a second difference between the first position and the second position during a second time period, The method comprises the steps of providing a first step of detecting the angular position of the rotor shaft of the motor of the drive device driving the reel by means of a first sensor, detecting the value of a second physical variable by means of a second sensor spaced apart from the reel, the second physical variable being the distance between a second sensor fixed to the support and a surface area of the receiving part, wherein the surface area reflects radiation emitted by the second sensor or the second physical variable is a force transmitted by a cable, wherein in a first step the receiving part is controlled to move to a first theoretical position based on the support of the hoisting device, in a second step carried out after the first step in time, the first difference is determined, and subsequently, in a third step, the receiving part is controlled to move to said first theoretical position, in time, in a fourth step, the second difference is determined to have the same value as the receiving part, and in a fourth step, if the second difference is not exceeded, and the second step is carried out.
  2. 2. A method according to claim 1, characterized in that the receiving member is reciprocable in accordance with the direction of rotation of the drum driven by the drive means, wherein on upward movement the cable is wound more and more around the drum, and on return movement the cable is unwound more and more from the drum.
  3. 3. A method according to any one of the preceding claims, characterized in that the value of the first physical parameter is detected in a first area of the cable by means of a first sensor and the value of the second physical parameter is detected in a second area spaced apart from the first area by means of a second sensor.
  4. 4. Method according to claim 1, characterized in that if the value of the difference between the first difference and the second difference exceeds the permissible degree of deviation, an alarm message is displayed and/or transmitted to a computer connected to the control of the hoisting device by means of a data transmission channel, wherein the radiation is light, ultrasound or radar radiation.
  5. 5. A method according to claim 3, characterized in that the first physical parameter is the angular position of the rotor shaft of the motor of the drive unit driving the reel.
  6. 6. A method for operating a lifting device, wherein the lifting device has a receiving part for receiving an object and a cable which can be wound at least partially onto a drum, the drum being drivable by a drive device, the drive device having a first sensor, a first position of the receiving part being determinable from a value detected by the first sensor, It is characterized in that the method comprises the steps of, A second sensor is arranged on the lifting device, from which value the second sensor detects a second position of the receiving part can be determined, Wherein in a first step, during a first period of time, the receiving part is moved along a trajectory having a track speed profile, a profile of the value detected by the second sensor as a function of the value detected by the first sensor is stored, In a second step, temporally following the first step, during a second period of time, the receiving member is again moved along said trajectory with a track speed profile, the profile of the value detected by the second sensor as a function of the value detected by the first sensor is stored, In a third step, temporally following the second step, a maximum value of the convolution of the first function with the second function is determined, an integral of the value of the difference between the first function and the second function shifted by the maximum value is determined or an integral of the square of the difference between the first function and the second function shifted by the maximum value is determined; the receiving part can be moved back and forth along a guide element formed on the lifting device, the angular position of the rotor shaft of the motor of the drive device driving the drum is detected by means of a first sensor, the value of a second physical variable is detected by means of a second sensor spaced apart from the drum, the second physical variable is the distance between a second sensor fixed on the support and a surface area of the receiving part, wherein the surface area reflects radiation emitted by the second sensor or the second physical variable is a force transmitted by a cable, wherein in a first step the receiving part is controlled to move into a first theoretical position on the basis of the support of the lifting device, in a second step carried out after the first step in time, a first difference is determined in a first time period, and subsequently the position control of the receiving part is moved into at least one second theoretical position and/or into a further theoretical position, in a third step the receiving part is controlled to move into the first theoretical position, in a fourth step carried out after the third step in time period, a second difference is determined in a second time period, and subsequently the difference and the second difference and the fourth difference in the first difference and the second difference in the second difference are allowed to act on the same level as the receiving part in the second step, or no object is received on the receiving member in the second and fourth steps.
  7. 7. Hoisting device for carrying out the method according to any of the preceding claims, characterized in that the first sensor is an angle sensor for detecting the angular position of the rotor shaft of the motor of the drive means, and that the second sensor is designed to be suitable for detecting the position of the receiving part.
  8. 8. Hoisting device as claimed in claim 7, characterized in that the drive means are designed as motors.
  9. 9. Hoisting device as claimed in claim 7, characterized in that the drive means are designed as a gear motor.
  10. 10. Lifting device according to any of claims 7-9, characterized in that a second sensor is arranged on the frame of the lifting device, wherein the second sensor is an optical spacing sensor and/or a laser distance sensor, Or alternatively A second sensor is disposed between the cable and the receiving member, wherein the second sensor has a pin coupled to the cable and the receiving member, a strain gauge is coupled to the pin, and/or the position of the receiving member can be determined by twice integrating the value profile detected by the second sensor.
  11. 11. Lifting device according to any one of claims 7 to 9, characterized in that the lifting device has rotatably supported wheels by means of which the lifting device can be moved over the ground of the installation.
  12. 12. Lifting device according to any of claims 7 to 9, characterized in that an RFID tag which can be written and/or read contactlessly is arranged on the object, and an RFID reading and/or writing device is arranged on the lifting device.
  13. 13. Hoisting device as claimed in claim 9, characterized in that the gear motor is a motor with a gear reducer.

Description

Method for operating a lifting device and lifting device for carrying out the method Technical Field The invention relates to a method for operating a lifting device and to a lifting device for carrying out the method. Background It is known to provide lifting devices for lifting objects received on the receiving part. As the closest prior art, a lifting mechanism is known from WO 2019/130,425 A1. However, the cable is not wound or unwound during operation and/or the cable tension is substantially unchanged during operation in the elevator mechanism. A lifting mechanism arranged on a vehicle is known from US 2013/0 341 124 A1. A method for identifying abnormal situations in an elevator is known from JP 2020-7 078A. Disclosure of Invention It is therefore an object of the present invention to improve safety in hoisting equipment. According to the invention, this object is achieved by a lifting device according to the features given in claim 10 and a method according to the features given in claim 1 or 9. In connection with a method for operating a lifting device, an important feature of the invention is that the lifting device has a receiving part for receiving an object and a cable which can be wound at least partly on a reel, Wherein the reel can be driven by a drive device, in particular can be rotated by the drive device, Wherein the drive device has a first sensor, wherein a first position of the receiving part can be determined from the value detected by the first sensor, Wherein a second sensor is arranged on the lifting device, wherein a second position of the receiving part can be determined from the value detected by the second sensor, Wherein a first difference between the first location and the second location is determined during a first time period, Wherein a second difference between the first position and the second position is determined during a second time period, If the value of the difference between the first difference and the second difference exceeds the permissible deviation level, an action is triggered, in particular an alarm message is displayed and/or transmitted to a computer connected to the lifting device, in particular to a control unit of the lifting device, by means of a data transmission channel. The advantage here is that the cable elongation can be monitored by means of two sensors. The first sensor is disposed substantially on the first end of the cable by the motor and the drum, and the second sensor substantially detects the other end of the cable. Thus, with each of the two sensors, the position of the receiving part can be determined, in particular in a first time period and thereafter in a second time period. In this way, a change in the difference between the two position determinations due to the cable elongation can be detected. The second time period is advantageously spaced apart in time from the first time period. The cable elongation is thus caused by the operation of the hoisting device between the first time period and the second time period, i.e. by the load of the cable in operation. In an advantageous embodiment, the receiving part can be moved back and forth along a guide element formed on the lifting device, in particular on a support of the lifting device. The advantage here is that the receiving member can be moved linearly on the drum by means of winding or unwinding of the cable. The guide member improves the accuracy of the movement. In an advantageous embodiment, a value of a first physical variable, in particular the angular position of the rotor shaft of the motor driving the drum, is detected in a first region of the cable, in particular in the vicinity of the drum, by means of a first sensor, and a value of a second physical variable is detected in a second region spaced apart from the first region by means of a second sensor, in particular wherein the second physical variable is the distance between the second sensor fastened to the support and the receiving part, or wherein the second physical variable is the force transmitted by the cable. The advantage here is that the cable elongation between the two regions can be determined in a simple manner. In an advantageous embodiment, in a first step the receiving part control is moved to a first setpoint position, in particular to a first setpoint position with respect to the frame of the lifting device, wherein in a second step, which is carried out after the first step in time, a first difference is determined in a first period of time, and then the receiving part position control is moved to at least one second setpoint position and/or to a further setpoint position, wherein in a third step the receiving part control is moved to the first setpoint position, wherein in a fourth step, which is carried out after the third step in time, a second difference is determined in a second period of time, and then the action is triggered if the value of the difference between the first difference and t