Motion Characteristic Study Of Rope’s Winding And Unwinding In Vertical Shaft Winding Hoist System

The security and stability of hoist system was influenced by vibration of air rope between head sheave and drum, as well as horizontal or vertical vibration of hoist container in vertical shaft winding hoist system. Horizontal and vertical motion of separation point between rope and drum is one of important reasons of air rope and container’s vibration. In view of the motion problem of rope’s winding and unwinding process in vertical shaft winding system, the study of winding trajectory and motion state recognition about rope on drum was carried out, in order to analysis winding motion trajectory of rope. The motion recognition method of rope which departs from drum was set up to provide guarantee for safty and stability of vertical shaft winding hoist system.In order to solve the problem that winding rope has impact, pressing and abrasion, the motion law of rope on first layer of drum was analyzed, the layer-to-layer transition device was designed on the basis of high-order Bezier curve. The verify that make sure the availability of rope’s layer-to-layer transition of the layer-to-layer transition device was analyzed by example. In view of the phenomenon that the circle-to-circle transition on the second layer, the reason of this phenomenon was studied. The shape of circle-tocircle transition curve was analyzed on the basis of differential geometry, at the same time, a method of calculating precessional value of circle-to-circle transition point was proposed. The curves of displacement, velocity and acceleration of separation point between rope and drum wear got on the basis of the research of layer-to-layer transition and circle-to-circle transition.In view of the problem that the rope’s motion characteristic in the process of winding and unwinding is difficult to be recognized, one kind of recognition algorithm of drum and rope’s motion characteristic was designed on the basis of machine vision technology. Combined with the feature that the rope departs from drum with sharing the same point on the same plane each time, the projection and back-projection relationship between rope plane and image plane was analyzed, the projection feature of lines which share the same point was studied, at the same time, a direct camera calibration method was proposed. In view of how to recognize rope’s motion image, a algorithm with can recognize the rope’s characteristic of departing from drum was designed on the basis of LSD. A algorithm which can recognize the drum’s characteristic of the rotation motion was designed according to the image feature of drum’s flank. The motion characteristic detection software about drum and rope was designed to achieve the validity recognition of drum and rope’s motion characteristic.According to the principle of vertical shaft’s winding hoist system, a drum rope motion tester was set up, the vision recognition system about drum and rope’s motion feature was established, the characteristic identification problem of rope’s abnormal winding was analyzed. Experimental results showed that the above recognition algorithem of rope’s motion characteristic has great practicability, at the same time, the accuracy of the theoretical analysis about rope’s winding trajectory theory is verified by the experiment.