Method of and device for moment protection of boom crane by signals from support pickups

FIELD: mechanical engineering; materials handling equipment.

SUBSTANCE: in proposed case functions of overturning moment and nominal forces of supports are synthesized from signals of support pickups. Overturning moment is reduced to one "window" whose upper limit corresponds to maximum of overturning moment, and operation of protection and is defined by constant value of restoring moment which depends on size of support outline and mass of counterweight. Created no-program device is adaptive to overturning moment and distribution of forces in supports and contributes to correct mounting of crane on supports from traveling position. Horizontal arrangement of platform and nominal distribution of forces of supports are maintained. Mounting of crane on supports is provided even is deviation of actual forces in supports from nominal values is revealed.

EFFECT: provision of protection of higher reliability and accuracy, improved service and dynamic characteristics of crane.

6 cl, 4 dwg

 

The invention relates to a lifting-transport equipment, namely, protection devices jib cranes. Device protection jib cranes, using the sensor signals of the supports did not find industrial solutions.

We know the system 30-1 of Vniitransmash [1], used in addition to the load limiting device. The Foundation of this system is the minimum pressure sensors built into the hydraulic system of each support, which will be triggered when the pressure (force) in the bearing below the set value, for example, 20 kg/cm2when the maximum pressure up to 200 kg/cm2.

With growth stalling torque unloaded supports located behind the line of tipping. When the pressure below the set value of the electric contacts of the pressure sensor is open. The electrical circuit connections of the contacts of the sensors provides the ability to offload one support with a contact opening, if the other bearing behind the line of tipping has a force (pressure)greater than the minimum established value. In case of failure to fulfill this condition, the system disconnects the drive of the crane.

You know the torque device is protected by a patent [2], which contains sensors and supports the computing device by the sensor signals supports coordinate of the center of mass of the crane is. For safe operation of the crane it is necessary that the coordinates of the center of mass was located within the outline of a rectangle that is located inside the reference path (shaded area on figb).

On figa is a diagram of the static load on the crane with the control circuit of size a· with the eccentricity of the axis of the turntable n and the angle of the boom in the plan α (Indicate reference circuit according to the patent [2] is shown in figb).

Using adders and vychitala in the device according to [2] formed the sum of:

and modules of differences

where Rithe force in the i-th leg, R is the sum of efforts of all supports.

Conditions of stability of the crane is determined by the expression:

where C=L1/L; D=li/1.

Consider the function nominal effort in support of a [3]

where M sinα , M cosα - components of the overturning moment M with respect to the axes Y and X, Fn is the moment caused by the eccentricity of the axis of the turntable. Expressing expressions (2) and (3) of the patent through the nominal function of the efforts of (4)... (8) we obtain:

where M cosα =Bl; sinα +Fn=AL, N=P.

In the case of complete unloading support Rc=P=0 efforts in other supports equal

Sequentially inserting the expressions (10)... (14) in (2) and (3), we obtain expressions for the x, y coordinates of the center of mass when the tricycle bearing, which fully corresponds to the expression (9) for a four-pillar bearing. In fact, the center of mass of the tricycle when the bearing is inside the triangle. Therefore, in [2] provides additional protection for minimum effort in bearings in accordance with the expression of PiαP, where Pithe force in the i-th leg, which uses four Comparer.

The system protection component of the tipping point does not take into account the change of the sign of the moment caused by the eccentricity during rotation and does not allow the operation of the crane in isolation from the base of one of the pillars behind the line of tipping, which may occur, for example, the "Rules" of the state. Reliability, information, functional and operational characteristics of the system are low, which stems from the way “switch”, forms the basis of her work. These drawbacks are eliminated in the proposed is the procedure of protection.

The essence of the method in synthesizing signals from sensors supports: function overturning moment and nominal effort in support of the crane. When this tipping point is one “window” (scale), the amount of which corresponds to the maximum overturning moment and the protection operation and is determined by the constant refreshing moment. The method allows you to create a protection device, adaptive to the tipping point and distribution efforts in support, and also to create a device of the crane from the transport position on the supports with respect to the horizontal platform and the nominal distribution of effort supports.

Consider the method of synthesis of overturning moment from the sensor signals of the supports. Pairs summing the signals of the sensors belonging to each edge of tipping over and subtracting the sum of the signals of the efforts of all the supports for the cases of four legged and three-point bearing of the valve, respectively expressions((4),... ,(7), (10),... (13)) get the following equality.

From (15),... ,(18) implies that the sum of S7,... ,S10do not depend on complete unloading one support, for example, RC=0. The same applies to the case of partial unloading support [4]. Multiplying (15) is (16), and (17) and (18) to get a

where F=N*-gh=const, N*=N-QGN - the total weight of the crane with the load, GH, QGaccordingly, the weight of the rotary part of the crane or load, n is the eccentricity.

Eliminating from (19) the term Fn, obtain the component of the moment M sinα and determine the full moment M equal to

When this function is complete overturning moment is determined by the expression.

whereGidaccordingly weight: cargo, head of the boom, the i-th section of the jib, counterweight and brought to him turntable, x - full size sections of the telescopic boom, l1- the length of the first base section of the boom, ϕ - the boom angle, lkop- correction of the deformation of the arrow, R, r - geometrical dimensions.

Thus, the synthesized automatically takes into account the torque load from the mass of the boom and load, taking into account their functional linkages with variable parameters boom.

Due to the fact that according to the "Rules" of Gosgortekhnadzor stability of the crane is relative to the edges of its minimum resistance, but in terms of features accepted pie, the equation ustoichivosti view.

where a is the size of the reference circuit, Tozuthe factor of stability.

Due to the independence of the value of S7,... ,S8function (15),... ,(18) on the distribution of effort in the bearings they are used for the synthesis of the nominal loads in the bearings. For this form the following amounts:

Nominal effort supports (24) are used to calculate the deviation from the actual effort in the bearings defined by the signals of the respective sensors. For example, in the case of a three-point bearing crane (R*with=0) deviation efforts Δ Ridetermined in accordance with expressions (10),... ,(13) and (24)

In the proposed method, the difference between the actual and nominal effort supports used:

1. For additional protection of the crane is in the process of its work, taking into account deviations efforts in support of the nominal caused, for example, a drawdown of soil under the base or leakage in the hydraulic system.

2. For proper installation of the crane on the support from the transport condition with simultaneous two conditions: the horizontal platform and the nominal distribution of effort in them. Moreover, if the first condition to some extent is known devices, the second, due to the lack of feedback efforts in the supports not can ipodnano known manner, that reduces the nominal stability of the crane. The proposed method allows the creation of a system of protection, adaptive to torque loads and efforts in support.

Implementation of the method allows the creation of protective devices for regulating the speeds of the crane in the function of overturning moment or effort in the bearings, to reduce vibrations of the crane due to the active damping signal has a negative feedback on the rate of change of overturning moment and lifting speeds, and also to eliminate some sources of fluctuations, for example, arrows with her “lifting-lowering due to the nonlinear transfer function of the speed of the pusher-bolt.

In the end, increase the reliability of the crane and expand its operational characteristics.

Check the accuracy of the security system using the proposed method on the crane is on his passport cargo characteristics.

THE DEVICE FOR IMPLEMENTING THE METHOD OF PROTECTION.

Figure 2 shows the structural diagram of the torque protection of the crane, including itself.

SITES: 1 protection for the maximum time, 24 the four-quadrant creamer with indicators of the roll 25, 26 of the protection status of the supports c indicators, 61 proper installation of the crane on the support from the transport state.

DYNAMOMETERS: 2, 3, 5, 6, outriggers.

The ANGLE SENSOR boom in terms of od is p 4.

Node 1 torque protection contains: dynamometers 2, 3, 5, 6; trehochkovye adders 7, 8, 9, 10 of the first group; two-input adders 12, 14, 20 of the second group; Quad 13, 15; two-input adder signals Quad 16; coronator 17; adder moment 19; supplementary adder 18, chetyrehhodovogo the adder signals all dynamometers 11; a comparator maximum torque 21; indicators: point 22 and the weight 23.

THE PRINCIPLE OF OPERATION. The function of the tipping point, independent of the actual effort in support, is synthesized from the latter as follows: each adder 7, 8, 9, 10 connected to two inputs with the appropriate dynamometers 2, 3, 5, 6, and third subtractive inputs with gain of 0.5 with the output of the adder 11. Namely, 7 2, 6 and 11; 8 with 3.5 and 11; 9 2.3 and 11; 10 with 2,3 and 11. The signals of the value of S7,... ,S10with outputs 46, 47, 48, 50 of the adders of the first group, the corresponding expressions(15),... ,(18), come to one inputs of the adders 12, 14 of the second group and two inputs of the adder 20 in the following order: from 48 through diode 14, 46 through the diode 12, 47 and 50 through the diode 20. The second inputs 12 and 14 connected to the voltage Fn. The outputs 12 and 14 diodes connected to the input of Quad 13, and the output of diode 20 is connected with the Quad 15, output signals which correspond to the functions M2sin2αand M2cos2αcumulative 16, the output is provided to the input of corretora 17, output connected to one input of adder 19, the second subtractive input gain 0,5A, associated with the output of the adder 18, one input connected with the output of the adder 11, and the second subtractive input with constant voltage N*. The output signal 19 corresponding to the tipping point relative to the edges of the minimal stability of the crane arrives at the inputs: a momentum indicator 22 and the comparator 21, a second input associated with a constant restoring moment and the momentum indicator 22. The output 18 is connected with an indicator of the weight 23.

Thus, the overturning moment is one “window”, the size of which is determined by the magnitude of the restoring moment. When exceeding AC overturning moment restorative moment, reduced to a constant value, the comparator, the switching-off of the drive.

Due to the fact that time is a function of the weight and variables boom protection operation occurs at the same value of time, but on different booms in accordance with the passport cargo characteristics of the crane.

Figure 3. the block diagram of node 26 of the protection of the crane on the state supports. Synthesis of nominal effort supports by using trehshipovyh adders 28, 30, 32, 34 of the third group, the two inputs is connected to the outputs 46, 47, 48, 50 of the adders of the first group and third inputs with the output 49 of the adder 11. Adders two inputs with a gain of 0.5 associated with the above outputs the following images: 28 46 and 47; 30 47 and 48; 32 to 48 and 50, 34, 46 and 50, and third subtractive inputs with gain of 0.75 to exit 49. In vychitala 29, 31, 33, 35 of the signals of dynamometers deducted synthesized nominal values from the outputs of the adders 28, 30, 32, 34. Items matching 36, 37, 38, 39 among the inputs of the diodes connected to the outputs of vychitala, and other inputs - outputs of quadrature 40 boom, the input associated with the output of the angle sensor 4. The outputs of the elements And are connected with the corresponding svetoizluchateli status indicator supports 27 and the control inputs of the keys 41, 42, 43, 44 dynamometers supports, located diagonally opposite to svetoizluchateli set in the configuration supports. The comparator 45 one input connected to the outputs key inputs associated with dynamometers, and the other input with a valid voltage. The output 45 is connected with the device off drives.

THE PRINCIPLE OF OPERATION. The device continuously compares the actual and synthesized nominal function supports. For this purpose, the outputs of the adders 28, 30, 32, 34 respectively connected with one input of vychitala 29, 31, 33, 35, the second inputs of which are connected to correspond to their outputs 52, 51, 54, 53 dynamometers. This underutilized supports correspond to the difference of the negative sign on the outputs of vychitala that through the diodes go on some inputs elements And the second inputs of which are connected with quadratorum boom. Two underutilized supports using logic selects the "dangerous reliance", located in one quadrant of the arrow. When this is activated the corresponding element And the output signal “lights” indicator “dangerous reliance”, and also includes key siloizmeritelya support located diagonally opposite highlighted the support. Through the public key of the selected signal siloizmeritelya to the input of the comparator 45 and compared with its minimum value at the second input. When reduction efforts in the support below the allowed value triggers 45 and the output signal turns off the drive of the crane.

Protection of the crane on the condition of the supports is carried out by minimum efforts in support diagonally opposite, dangerous underutilized.

Figure 4. the block diagram of the node 61 proper installation of the valve from the shipping status on the outriggers.

She contains. The adders 62, 63, 64, 65, associated one of the inputs to the outputs 55, 56, 57, 58 vychitala actual and nominal effort, the second inputs - outputs 74, 73, 72, 71 four-quadrant of creamer 24, and the third input is AMI through the normally closed key 68 - with a reference voltage. Control input key associated with the output of the comparator 70, the inputs associated with the reference voltage and the output of the adder 49 signals of dynamometers 11.

Two elements 4OR-NOT 66 and 69 inputs connected to the outputs 55, 56, 57, 58 vychitala and 71, 72, 73, 74 creamer respectively, and outputs through the element And 67 out of 79 with a light crane for support.

THE PRINCIPLE OF OPERATION. In the initial state efforts in support of zero so the outputs 55, 56, 57, 58 vychitala signals are absent. Therefore, the control signals nomination of hydrophor on the outputs 75, 76, 77, 78 are determined by the signals at the outputs of creamer 71, 72, 73, 74 and the reference voltage. As extension poles and their contacts with the base signals appear at the outputs of the respective dynamometers. Due to the higher sensitivity of the channels creamer the leveling of the platform may be incomplete loading of the supports (tapping the wheels of the crane). When the voltage at the output of the adder 49 11 reaches the nominal value triggers the comparator 70, off key 68 and the supply reference voltage adders 62... 65 stops. Now management extension supports is only negative differential signals and effort signals creamer. While conditions leveling platform and nominal RA the distribution of effort in support of the signals at the inputs of the elements 66 and 69 are equal to zero, and outputs a logical unit, which through the element And “light” indicator complete the installation of the crane on the support. In operation, the valve protection system provides information about the distribution of effort in the supports and protects the crane with regard to their condition.

Sources of information

1. Auth. the certificate of the USSR No. 698903.

2. Patent 2.277.027 (France) publ. 04.10.76.

3. Vinson A.A. Lifting-transport machines. M: - engineering - 1989.

4. Mamaev K.M. ABOUT the functional relationships of the load signals of the dynamometers in the protection systems of cranes. RAS - Bulletin of the Dagestan scientific center, Makhachkala, 2000, No. 7, 49-57.

1. The way to protect the boom of the crane from tipping over, according to which use sensor signals of the efforts of outriggers and angle sensor boom in terms of supports and protection operation disable actuators, characterized in that the protection is carried out to the maximum overturning moment relative to the edges of the minimal stability of the crane, which is compared with a constant restoring moment for a module definition tilting moment acting in the plane of arrows summarize the signals of the sensors of the efforts belonging to each possible edge tipping, subtract from the received sum signal of the half-sum of all sensor signals and produce from the found difference signals sine and sinusoi the moment components.

2. The method according to claim 1, characterized in that the additional protection is carried out with the minimum of actual effort in support, diagonally opposite dangerous underutilized support, which is compared with the nominal, to determine the nominal effort supports pairwise sum signals of the results of the summation of the sensor signals of the efforts belonging to each edge of tipping over, and subtracting the latter from the sensor signals of efforts identify underutilized support.

3. The method according to claim 1, characterized in that the crane out of the transport position on a support under conditions of a horizontal platform of the crane and the nominal distribution efforts in support of a use of the difference signals of the actual and nominal effort in the supports together with the four-quadrant signals of Cranmer.

4. The protection device on the boom of the crane from tipping over, containing sensors effort outriggers, made in the form of dynamometers supports, adders, Comparators, wherein dynamometers supports, forming a side of the reference circuit, connected to the two inputs of the corresponding of the adders of the first group, the third inputs of which are connected with the output of the adder, connected to all of the dynamometers, the outputs of one pair of adders of the first group through the diodes associated with one of the inputs of the first and second adders in the second group, the outputs of the other pair of adders of the first group through the diodes connected to the two inputs of the third adder of the second group, the outputs of the first and second adders of the second group through the diodes connected to the input of the first Quad, and the output of the third adder through the diode from the input of the second Quad, the outputs of the Quad through the adder signals Quad associated with coronatorum, the output of corretora is connected to one input of adder moment, another entrance through additional adder associated with the output of the adder signals of all of dynamometers, the output of the adder moment associated with entry the momentum indicator and one of the inputs of the comparator, the other input of which is intended for the perception of the signal constant refreshing the moment, the other inputs of the adders of the second group are connected to appropriate sources of reference voltages.

5. The device according to claim 4, characterized in that the first and fourth adders of the first group associated with the first, second and fourth to the second, the second and the third to the third, first and third with the fourth adder the third group, the third inputs of the adders of the third group are connected with the output of the adder all dynamometers; the outputs of dynamometers and adders of the third group are pairwise connected to the inputs of the respective vychitala, outputs through diodes associated with one input elements sempadan what I other inputs of the elements matches connected with the corresponding outputs of quadrature boom, the input associated with the sensor angle supports, and outputs - with svetoizluchateli status indicator supports and control inputs of the keys of dynamometers, located in the configuration supports diametrically opposite the respective svetoizluchateli supports, the outputs of keys associated with one of the inputs of the comparator state supports, a second input associated with the respective reference voltage, and the output device drive control.

6. The device according to claim 5, characterized in that it is provided with renomeron, the two elements 4 OR NOT, and the fourth group of adders connected to the first inputs to the outputs of vychitala, the second inputs - outputs creamer, and the third input via the normally closed key - with the corresponding reference voltage, control input key associated with the output of the additional comparator associated inputs with the output of the adder signals of all the dynamometers and the same reference voltage, the inputs of the first and second elements 4, OR IS NOT associated with the inputs of the adders of the fourth group and outputs creamer respectively, and the outputs from additional schema matching, the output of which is connected to the light crane for support.



 

Same patents:

FIELD: mechanical engineering; materials handling equipment.

SUBSTANCE: no-program method of moment protection is proposed instead of program protection by load characteristics effected in full compliance with moment equation functionally coupled crane loads with variable parameters of boom. Actual overturning moment is calculated and synthesized by protection device from signals of pickups and is reduced to one "window" whose upper limit corresponds to maximum of overturning moment and operation of protection and is defined by constant part of restoring moment which depends of size of support outline and mass of counterweight. Said equation is adaptive to moment loads and automatically takes into account their changes.

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: crane turntable // 2034773
The invention relates to hoisting and transport machinery and designed for trouble-free loading strelovymi cranes

FIELD: mechanical engineering; materials handling equipment.

SUBSTANCE: no-program method of moment protection is proposed instead of program protection by load characteristics effected in full compliance with moment equation functionally coupled crane loads with variable parameters of boom. Actual overturning moment is calculated and synthesized by protection device from signals of pickups and is reduced to one "window" whose upper limit corresponds to maximum of overturning moment and operation of protection and is defined by constant part of restoring moment which depends of size of support outline and mass of counterweight. Said equation is adaptive to moment loads and automatically takes into account their changes.

EFFECT: provision of protection of higher reliability and accuracy, improved service and dynamic characteristics of crane.

6 cl, 6 dwg

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