EP3395747A1 - Method and device for regulating or control of the braking force of a brake working on a drive - Google Patents

Abstract

In a method and a device for controlling or controlling the braking force of a brake (9) acting on a drive (7), in particular a safety brake acting on a cable (3) driven by a motor, a brake element of the brake (9) an application force against a permanently acting braking force is opened and for a braking operation the urging force against the permanently acting braking force on the brake element to provide a drive acting on the drive (7) braking is canceled, it is provided that the voltage applied to the drive (7) load is measured and that, depending on the measured load during the braking operation, a force acting on the drive (7) braking torque of the braking element decreasing force is applied against the permanently acting braking force which is less than the force exerted to fully open the braking element loading force.

This makes it possible, in particular in an emergency by the use of a safety brake (9) occurring maximum braking decelerations of a load (2) and to reduce resulting loads.

Description

The present invention relates to a method for controlling the braking force of a brake acting on a drive, in particular acting on a motor-driven cable pull safety brake, wherein a brake element of the brake is opened by a biasing force against a permanently acting braking force and for a braking operation, the urging force is canceled against the permanently acting braking force on the brake element to provide a braking torque acting on the drive. In addition, the present invention relates to a device for controlling or controlling the braking force of a brake acting on a drive, in particular a safety brake acting on a cable driven by a motor, comprising a brake element, a braking force acting on the brake element, a permanently acting brake force to provide a force acting on the drive braking torque generating biasing member and acting against the permanently acting braking force, an application force providing opening element, and to a use of such a method and such a device.

In event technology, such as stage technology in opera houses, theaters and concert halls or the like. Winches for lifting and lowering platforms and decorations are used on a large scale. In a normal undisturbed operation, for example, these work with electronically controlled electric or hydraulic drives.

In the event of faults, such as failure of the controls or the supply voltage, so-called safety brakes avoid the crash of the loads. They are usually carried out redundant for each drive. Safety brakes close by passive spring force and are either opened electromagnetically or hydraulically or ventilated, while only the energy stored in the springs is used for braking. This distinguishes such safety brakes from standard brakes, e.g. in vehicles. In the event of a fault, each of the two safety brakes on the drive must bring the maximum possible load down from maximum speed downwards within a predetermined stopping distance. The braking effect of each individual brake is checked before commissioning a new system.

During the deceleration of the loads due to the safety brakes in the event of accidents, large deceleration forces occur on the platform or on the decorations hanging on load bars, which can usually be from 3 times to 5 times the acceleration due to gravity. The smaller the loads, the greater the usual way the brake shock.

Depending on the controller, in many applications even both brakes occur simultaneously in the event of a power failure.

For the large deceleration forces, on the one hand, the attached decorations and their connections, as well as the load-bearing rope pulleys in the steel structure, but also the building, must be designed. In conversions and renovations of older theaters, the existing support structures can in many cases the high braking loads due to the desired higher loads and speeds of the various drives no longer withstand.

To accommodate such larger or higher braking loads is partially trying to accommodate in existing buildings additional constructions, such as foundations or supporting structures, which can withstand such higher loads, especially braking loads. A disadvantage of such proposed solutions is the extremely large and partly not economically to be represented additional expense for such additional structures in the conversion of existing buildings.

It should also be noted that despite the fact that below the method and the inventive device for controlling or controlling the braking force of a brake acting on a drive, in particular in connection with such lifting devices for raising and lowering loads or stage facilities are discussed, a Such method and such a device can be used in general on a control or control of the braking force of a brake acting on a drive, as they reach for example in a lifting and lowering of loads, for example by means of cranes or similar devices, in particular for safety reasons.

Taking into account the above-mentioned problems, in particular in connection with the occurrence of sometimes very high braking loads or moments in the use of such safety brakes is aimed at the above-mentioned problems as far as possible avoid or reduce and in particular to provide a method and a device for controlling or controlling the braking force of a brake acting on a drive, with which it is possible to achieve a significant reduction in braking during a braking operation, in particular in connection with a safety brake, to achieve occurring loads.

To solve these objects, a method of the type mentioned is essentially characterized in that the voltage applied to the drive load is measured and that depending on the measured load during the braking process acting on the drive braking torque of the braking element reducing the application force against the permanent acting braking force is applied, which is less than the force exerted to fully open the braking element applying force. Characterized in that according to the invention, the voltage applied to the drive load or load is measured and depending on the measured load, a maximum braking force of the braking element derating imposition force is exercised, it becomes possible, occurring during use of such a brake, in particular safety brake, brake loads or to reduce moments or delay peaks accordingly. Thus, essentially an automatic adjustment of the total acting braking force in such a brake, which is possible, for example, when using the method according to the invention, regardless of the applied load and according to the particular by the structural conditions of the building or the drive supporting construction a To reduce maximum occurring deceleration, for example, the reduction of the maximum occurring Braking delay to about a simple acceleration of gravity is possible.

In connection with the method according to the invention, it is proposed according to a preferred embodiment that the applied load on the element driven by the drive is detected by a load-measuring bolt on the drive and / or by using a cable pull by a sensor. In this way, the respective load or load applied to the drive can be determined in a simple and reliable manner, which subsequently can be limited or limited by the maximum load to be achieved in the case of using the safety brake by reducing or limiting the maximum occurring Braking delay is used.

According to the invention, moreover, it is preferably proposed that the permanently acting braking force is applied to the brake element in a manner known per se by at least one spring.

To open such a substantially passively operated safety brake is proposed according to a further preferred embodiment of the method according to the invention that the application force against the permanently acting braking force for opening the brake element in a conventional manner is applied electrically or hydraulically.

To provide the braking power to be provided in an emergency, in which according to the invention a regulation or control of the maximum braking deceleration occurs is sought, it is also provided that the biasing force against the permanently acting braking force to reduce the braking force of the braking element is applied electrically or hydraulically by a separate device for the opening of the brake element, as corresponds to a further preferred embodiment of the method according to the invention.

Taking into account the dynamic effects occurring at different loads or loads is proposed according to a further preferred embodiment of the method according to the invention, that the size of the braking torque decreasing biasing force is controlled or controlled inversely proportional to the determined load or load on the drive.

To solve the above-mentioned objects beyond a device according to the invention of the type mentioned above is essentially characterized by an additional device for measuring the voltage applied to the drive load and a control or regulating device for control or control during the braking of one on the Drive acting braking torque derating the loading force of the braking element by an acting against the permanently acting braking force opening element, wherein the force exerted to reduce the braking torque during braking application force is less than the force exerted to fully open the braking element biasing force. As already stated above, the additional device provided according to the invention for measuring or generally determining the load or load applied to the drive, as well as the provision of a regulating or control device for controlling or control of the braking torque which can be achieved during the braking process, a corresponding reduction of possibly occurring braking deceleration peaks or torques, which are to be limited to a predetermined maximum extent to avoid damage to, for example, building structures.

In order to determine the load or load applied to the drive, it is proposed according to a preferred embodiment that the device provided for measuring the load applied to the drive comprises a load-measuring bolt cooperating with the element driven by the drive and / or using a cable pull Sensor is formed for example in the range of a deflection roller of the cable. It is thus possible to reliably determine the load or load applied to the drive by simply providing additional and reliable measurement results.

Since such safety brakes are usually used during an emergency, for example a failure of the power supply, appropriate additional provisions must be made for the use of such a safety brake. In this context, it is proposed according to a further preferred embodiment of the device according to the invention that the additional device for measuring the load applied to the drive and / or the control device for controlling or controlling the braking torque acting on the drive and / or the against the permanently acting braking force acting on opening element with a separate from the drive and the brake supply device, In particular, an uninterruptible power supply are coupled.

As already stated above, such safety brakes are usually designed as passively acting brakes, wherein in this context it is preferably proposed according to the invention that the permanently acting braking force on the brake element generating or exerting Beaufschlagungselement is formed in a conventional manner of at least one spring.

To open such a safety brake is also preferably proposed according to the invention that the loading force against the permanently acting braking force providing opening element is formed to fully open the brake element in a conventional manner by an electrically or hydraulically operated device.

In order to reliably provide the action acting against the permanently acting braking force for regulating or controllable determination of the load peaks occurring during the braking operation, it is proposed according to a further preferred embodiment that the opening element providing the application force against the permanently acting braking force be used to reduce the during the braking process the braking torque acting on the drive is formed by an electrically or hydraulically operated device different from the device for opening the brake element.

According to the invention, moreover, the use of a method of the type mentioned above or a preferred Embodiment thereof or a device of the above type or a preferred embodiment thereof proposed for controlling or controlling the braking force of acting on a drive for a winch of a cable for lifting and lowering of stage devices safety brake.

Overall, it is thus possible to limit the use of such a safety brake delay peaks or occurring excessively large braking decelerations or moments, such occurring braking delays can be limited substantially independent of the voltage applied to the drive load or load, for example, to a maximum of simple acceleration of gravity , This is inventively achieved in particular by the fact that the braking force of such a safety brake is controlled or controlled in the event of an emergency. In this case, an oppositely acting urging force is provided to reduce the permanently acting braking force on the brake element, so that in such an emergency not fully theoretically to be equipped braking torque is used to such maximum occurring deceleration peaks or braking loads or moments taking into account restricting constructive conditions. Thus, it is also possible by the present invention provided limitation of maximum braking loads, with correspondingly simpler designs for suspensions, load-absorbing pulleys or the like. To find the Auslangen.

• Fig. 1 eine schematische Ansicht einer Bühnentechnikanlage, in welcher eine erfindungsgemäße Vorrichtung zur Durchführung des erfindungsgemäßen Verfahrens zur Regelung bzw. Steuerung der Bremskraft einer auf einen Antrieb wirkenden Bremse zum Einsatz gelangt;
• Fig. 2 eine schematische teilweise Darstellung einer in der erfindungsgemäßen Vorrichtung gemäß Fig. 1 zum Einsatz gelangenden Sicherheitsbremse;
• Fig. 3 ein schematisches Verfahrensdiagramm zur Durchführung des erfindungsgemäßen Verfahrens; und
• Fig. 4 ein schematisches Diagramm, welches den Verlauf des Bremsmoments sowie eines bereitzustellenden Gegendrucks bei Durchführung des erfindungsgemäßen Verfahrens zeigt.

The invention will be explained in more detail with reference to an embodiment schematically illustrated in the accompanying drawings. In this show:

• Fig. 1 a schematic view of a stage technology system in which a device according to the invention for carrying out the method according to the invention for controlling or controlling the braking force of a brake acting on a drive is used;
• Fig. 2 a schematic partial representation of a device according to the invention in accordance with Fig. 1 used safety brake;
• Fig. 3 a schematic process diagram for carrying out the method according to the invention; and
• Fig. 4 a schematic diagram showing the course of the braking torque and a counter-pressure to be provided when carrying out the method according to the invention.

In Fig. 1 is schematically generally designated 1 a stage technology, wherein a generally designated 2 load, such as a platform or stage decoration via a cable 3 via a driven winch 4 is raised and lowered according to the double arrow 5.

The load 2 may in this case have a comparatively large weight and / or comparatively large dimensions.

The winch 4 of the guided over schematically indicated with 6 pulleys 3 is driven by a schematically indicated motor 7, wherein the motor 7 is coupled via a gear 8 with the winch 4.

Coupled to the motor 7 is a schematically indicated safety brake 9, which in an emergency, as will be discussed in detail below, must provide a safe braking of the load 2, which may be of great weight. For safety reasons, such a safety brake 9 can be made redundant, but this is not shown in detail for the sake of simplicity.

For a proper storage of both the winch 4 and the guide rollers 6 bearings 10 and 11 are indicated, which are fixed to a building construction not shown in detail, which is generally designated 12.

To determine the load or load exerted by the stage decoration 2 is in Fig. 1 as a measuring device on the one hand in the area of the drive 7 or transmission 8, a load measuring pin 13 indicated, which is coupled via a data line 14 with a control or control device 15, which is fed through the load measuring bolt 13 detected load or load.

Alternatively or in addition to the load measuring bolt 13, a further device for measuring or determining the load or load can also be provided in the area of the cable pull 3 and in particular a deflection roller 6, as is schematically indicated by a sensor 16, which is similar to the load measuring bolt 13 is coupled by a line 17 to the control or control device 15.

As will be discussed in detail below, in the control device 15 based on the the load or load determined by the load measuring pin or the sensor 13 or 16 to avoid excessive braking decelerations or braking loads when using the safety brake 9 on the brake element of the safety brake 9, which in detail with reference to Fig. 2 will be discussed, effective braking force determined, with a coupling between the control or control device 15 and the safety brake 9 is indicated by a line 18.

Since such a safety brake 9 is usually used in emergencies, for example in case of failure of a power supply of the entire stage equipment 1 in particular to avoid a crash of the load 2 is used, is also in Fig. 1 schematically indicated at 19 a separate or additional power supply, in particular an uninterruptible power supply. This additional or separate power supply 19 is coupled via a line 20 to the safety brake 9 and via schematically indicated lines 21 with further auxiliary devices, such as in particular the devices 13 and 16.

In Fig. 2 is schematically illustrated the operating principle of the safety brake 9. The safety brake 9 has a brake element 22, which cooperates according to a double arrow 23 relative to a coupled to the drive or motor 7 not shown and braked by the braking element 22 element 24.

To generate a permanently acting braking force is in Fig. 2 a spring 25 indicated which exerts a force acting on the brake element 22 force F2.

To open the brake to bring the brake element 22 at a distance from the coupled to the motor or element 24, as shown in FIG Fig. 2 is shown in normal operation of the in Fig. 1 1, a force F1 is provided by an electrically or hydraulically actuated device, indicated schematically at 26.

In the case of using the safety brake 9, as explained in detail below with reference to Fig. 3 will be described, provided by the control device 15 against the provided by the spring 25 permanently acting braking force F2 acting Beaufschlagungskraft F3 provided, which is provided by a schematically designated 27, electrically or hydraulically operated device.

This applied in an emergency when using the safety brake 9 Beaufschlagungskraft F3 is less than that for fully opening the brake or to completely remove the brake element 22 from the drive coupled to the element 24 to be provided force F1, so that in the application of the safety brake 9 not the full, provided by the at least one spring 25 permanently acting braking force F2 acts on the brake member 22.

Thus, the maximum force F2 to be provided by the at least one spring 25 and acting on the brake element 22 becomes the force F3 between the brake element 22 which is reduced on the basis of the detected load or load and the coupled to the drive element 24 effectively, so that a total compared to the use of the full braking force F2 reduced braking deceleration or braking stress to the in Fig. 1 shown elements of the stage technology 1 occurs.

• F1 > F2: Die Sicherheitsbremse 9 ist vollständig geöffnet, wobei dies dem normalen Betriebszustand der in Fig. 1 dargestellten Bühnentechnikanlage 1 entspricht, wobei ein Anheben und Absenken der Last 2 entsprechend dem Doppelpfeil 5 durch eine entsprechende Regelung bzw. Steuerung des mit der Seilwinde 4 gekoppelten Antriebs 7 erfolgt.
• F1 = 0: In einem Notfall wird die durch die hydraulisch oder elektrisch betätigte Vorrichtung 26 bereitgestellte Gegenkraft F1 zu der durch die wenigstens eine Feder 25 bereitgestellten Bremskraft F2 ausgeschaltet bzw. fällt weg, so dass die vollständige durch die wenigstens eine Feder 25 permanent wirkende Bremskraft in der Sicherheitsbremse 9 auf das Bremselement 22 zur Anwendung gelangt.
• F3 < F2: Unter Berücksichtigung der festgestellten Last bzw. Belastung wird von der Regel- bzw. Steuervorrichtung 15 über die getrennte, elektrisch oder hydraulisch betätigte Vorrichtung 27 eine der durch die wenigstens eine Feder 25 bereitgestellten permanent wirkenden Bremskraft F2 entgegengesetzt wirkende Beaufschlagungskraft F3 zur Verfügung gestellt. Aufgrund der Tatsache, dass diese durch die Regel- bzw. Steuervorrichtung 15 ermittelte Beaufschlagungskraft F3 geringer als die zur vollständigen Öffnung der Bremse bereitzustellende Beaufschlagungskraft F1 ist, wird bewirkt, dass zwischen dem Bremselement 22 und dem mit dem Antrieb gekoppelten Element 24 nicht die vollständige, durch die wenigstens eine Feder 25 bereitgestellte permanent wirkende Bremskraft F2 zur Wirkung gelangt.

The following states of the safety brake 9 can be made available:

• F1> F2: The safety brake 9 is fully open, which corresponds to the normal operating condition of the Fig. 1 Stage technology shown corresponds to 1, wherein a raising and lowering of the load 2 is carried out according to the double arrow 5 by a corresponding control or control of the coupled with the winch 4 drive 7.
• F1 = 0: In an emergency, the counterforce F1 provided by the hydraulically or electrically actuated device 26 is turned off or off toward the braking force F2 provided by the at least one spring 25 such that the full braking force permanently acting on the at least one spring 25 in the safety brake 9 on the brake element 22 is used.
• F3 <F2: Taking into account the detected load or load of the control device 15 via the separate, electrically or hydraulically operated device 27 one of the provided by the at least one spring 25 permanently acting braking force F2 oppositely acting biasing force F3 available posed. Due to the fact that this application force F3 determined by the control device 15 is less than the application force F1 to be provided for the complete opening of the brake is, causes not complete, provided by the at least one spring 25 permanently acting braking force F2 between the brake element 22 and the drive coupled to the element 24 to effect.

By such a reduction of the maximum possible permanently acting braking force of the safety brake 9, maximum braking decelerations or moments occurring as a function of the loads or loads detected by the measuring devices 13 and 16 can thus be reduced.

In the in Fig. 3 schematically illustrated method diagram is carried out in a step S1, a determination of the in Fig. 1 represented stage technology 1 occurring load or load, as determined at the measuring devices 13 and 16 and determined by the control or control device 15.

In a step S2 takes place in the control or control device 15, a determination of the supplied in an emergency of the safety brake 9 Beaufschlagungskraft F3 for reducing the permanently provided by at least one spring 25 maximum braking force or acting on the brake element 22 Beaufschlagungskraft F2.

Such determination of the urging force F3 to be provided in an emergency or of the counter-pressure to be provided in a hydraulically actuated device for providing the application force F3 takes place taking into account the structural conditions for example, based on a pre-stored table, as indicated below: Table 1 lifting capacity braking torque backpressure 200 kg 66 Nm 22.5 bar 400 kg 74 Nm 22.1 bar 600 kg 87 Nm 21.6 bar 700 kg 95 Nm 21.2 bar

In the presence of intermediate values for the determined load compared to the values given in the above table, the application force F3 to be determined can be determined in a simple manner by interpolation.

From the table above and the corresponding thereto Fig. 4 Furthermore, it can be seen that the loading force F3 to be determined or the corresponding counter-pressure to achieve the desired braking torque is inversely proportional to the loads or loads exerted by the stage devices 2 and determined by the regulating or control device 15.

Alternatively, this can be determined by the control device 15 to be determined and supplied in an emergency of the safety brake 9 Beaufschlagungskraft F3, for example, based on a pre-stored load-braking force curve.

In a step S3, in a proper operation, the in Fig. 1 Stage technology shown 1 lifting and lowering the load 2 by an operation of the motor 7, which is coupled via the gear 8 with the winch 4. In this case, the in Fig. 2 illustrated safety brake 9 via the electric or hydraulically operated device 26 is supplied with the application force F1, which counteracts the by the at least one spring 25 permanently acting braking force F2 and exceeds this braking force F2 for a complete opening of the brake.

In an emergency indicated in step S4, the apply force F1 provided by the electrically or hydraulically operated device 26 drops, so that the maximum braking force F2 permanently provided by the at least one spring 25 becomes effective on the brake element 22.

Taking into account the loading force F3 calculated or determined in step S2 by the control device 15 on the basis of the load or load determined in step S1, the safety brake F3 in the parallel step S5 of the safety brake is actuated by the separate electrically or hydraulically actuated Device 27 is supplied, this force F3 counteracts the force F2 and thus prevents the maximum and by the force F2 permanently acting braking force is transmitted by the brake member 22 to the drive coupled to the element 24.

The provision of this application force F3, determined in step S2, to the safety brake 9 is disclosed in US Pat Fig. 3 schematically indicated by the dashed coupling between steps S2 and S5. This has the effect that the full braking force does not take effect in the event of an emergency in accordance with the force F2, so that braking deceleration or moments occurring can be reduced.

Overall, it is thus possible to provide a brake, in particular a safety brake 9, with an adjustable or controllable braking torque which, by providing a load-dependent braking torque, enables an adjustable deceleration or deceleration acceleration of optionally heavy loads 2. Such a dynamic control of a braking torque is made possible by a control technology coupling a load 2 with the safety brake 9.

Claims (13)

Method for controlling or controlling the braking force of a brake (9) acting on a drive (7), in particular a safety brake acting on a cable driven by a motor, wherein a brake element (22) of the brake (9) acts permanently against a force applied to it acting braking force (F2) is opened and for a braking operation, the urging force (F3) against the permanently acting braking force (F2) on the brake element (22) to provide a force acting on the drive (7) braking torque is canceled, characterized in that the the load applied to the drive (7) is measured and that, as a function of the measured load during the braking process, a loading force (F3) which reduces the braking moment of the braking element (22) acting on the drive (7) is exerted against the permanently acting braking force (F2) , which is less than the force applied to the complete opening of the brake element (22) applying force (F1). A method according to claim 1, characterized in that the applied load on the driven by the drive (7) element by a load measuring bolt (13) on the drive and / or when using a cable (3) by a sensor (16) determined on this becomes. Method according to claim 1 or 2, characterized in that the permanently acting braking force (F2) is applied to the brake element (22) in a manner known per se by at least one spring (25). A method according to claim 1, 2 or 3, characterized in that the loading force (F1) against the permanently acting braking force for opening the brake element (22) in a conventional manner is applied electrically or hydraulically. Method according to one of claims 1 to 4, characterized in that the application force (F3) is applied against the permanently acting braking force for reducing the braking torque of the brake element (22) electrically or hydraulically by a separate device for the opening of the brake element (27). Method according to one of Claims 1 to 5, characterized in that the size of the application force (F3) which reduces the braking torque is controlled or controlled inversely proportionally to the determined load or load on the drive (7). Device for controlling or controlling the braking force of a brake (9) acting on a drive (7), in particular a safety brake acting on a cable driven by a motor, comprising a brake element (22) acting on the brake element (22) permanently acting braking force (F2) for providing a braking torque acting on the drive (7) and an opening element acting against the permanently acting braking force (F2), providing an application force characterized by an additional device (13, 16) for measuring the the drive (7) applied load and a control or control device (15) for controlling or controlling during the braking operation of a on the drive (7) acting braking torque by a force acting against the permanently acting braking force (F2) opening element, wherein the force applied to reduce the braking torque during the braking action of the loading force (F3) is less than the force applied to the complete opening of the brake element (22) biasing force (F1 ). Device according to Claim 7, characterized in that the device provided for measuring the load applied to the drive (7) comprises a load measuring pin (13) interacting with the element driven by the drive (7) and / or using a cable pull (3). by a sensor (16), for example, in the region of a deflection roller (6) of the cable (3) is formed. Apparatus according to claim 7 or 8, characterized in that the additional device (13, 16) for measuring the voltage applied to the drive (7) load and / or the control device or control device (15) for controlling or controlling the on the Drive (7) acting braking torque and / or acting against the permanently acting braking force opening element with one of the drive (7) and the brake (9) separate supply device, in particular an uninterruptible power supply (19) are coupled. Apparatus according to claim 7, 8 or 9, characterized in that the permanently acting braking force (F2) on the brake element (22) generating or exercising Beaufschlagungselement in a conventional manner by at least one spring (25) is formed. Device according to one of claims 7 to 10, characterized in that the opening force (F1) against the permanently acting brake force (F2) providing opening element for the complete opening of the brake element (22) in a conventional manner by an electrically or hydraulically operated device ( 26) is formed. Device according to one of Claims 7 to 11, characterized in that the opening element which provides the application force (F3) against the permanently acting braking force (F2) is used to reduce the braking torque acting on the drive (7) during the braking operation from one of the device (26 ) to the opening of the braking element (22) different, electrically or hydraulically operated device (27) is formed. Use of the method according to one of claims 1 to 6 and the device according to one of claims 7 to 12 for controlling or controlling the braking force of a drive (7) for a winch (4) of a cable pull (3) for lifting and lowering of Stage equipment (2) acting safety brake (9).

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