Method of adjusting safeguard of load-lifting crane and safeguard used in crane

FIELD: materials handling facilities; crane safeguards.

SUBSTANCE: invention relates to overload and damage protection of load-lifting cranes and cranes-pipelayers. Proposed method comes to adjusting at least one signal in at least one load measuring channels and/or reach, and/or luffing angle to provide correspondence of safeguard switch off characteristic to preset load characteristic of crane by adding and/or multiplying results of direct or indirect measurement of at least one of crane operating parameters and signals corresponding to adjustment parameters whose values are stored in non-volatile memory of safeguard. Values of adjustment parameters are determined to provide independent switching off characteristic of safeguard from direction and/or speed of boom movement or speed of movement of crane load gripping members. Different adjustment parameters for different directions and/or speeds of boom and/or load-gripping member can be set.

EFFECT: simplified mounting and servicing of safeguards on crane, improved accuracy of realization of protection functions.

18 cl, 2 dwg

 

The invention relates to mechanical engineering and can be used in protecting from overload and damage jib, tower and overhead cranes and crane-pipelayers.

There is a method of configuring device security hoisting crane by lifting bagged cargo of a given mass at two points of its cargo characteristics (at the minimum and maximum departure) and mechanical regulation of the position of the sensors in the measuring channels load and departure from the terms of the compliance characteristics of the power device security given cargo characteristics of the crane [1].

Safety device of the crane that implements this method contains a parameter sensors work crane connected to a computing device that generates a given characteristic turn off the faucet when congestion on freight moment, and mechanical elements of the adjustment positions of the sensors [1].

The disadvantage of this technical solution is the high complexity of the configuration of the safety device on the crane due to the large number of mechanical adjustments.

More perfect and the closest to the invention is a method of configuring device security by raising bagged cargo of a given mass at the point of cargo is th characteristics with known parameters boom system, as well as control signals in the channels of the load measurement, departure and/or boom angle of the conditions of the compliance characteristics of the power device security given cargo characteristics of the crane by adding and/or multiplying the output signals of the sensors with signals corresponding to the tuning parameters, which pre-determine and store in non-volatile memory device security [2].

Safety device of the crane, which implements the well-known method and is the closest to the proposed contains sensors parameters of its work, the output device (Executive unit) and digital computer (microprocessor-based electronic unit), which includes a microcontroller, a block of memory (nonvolatile memory device) and the device input/output information, coupled with the microcontroller and sensors. The microcontroller is configured to write and subsequent read from the nonvolatile storage device of the values of the tuning parameters and with the ability to configure the device security by adding and/or multiplying the tuning parameters of the output signals of the sensors parameters crane [2].

This technical solution is achieved by reducing the complexity of the setup without the provisions through the use of electronic control signals in the measuring channels without mechanical adjustment of the positions of the sensors on the crane.

However, when configuring the device does not take into account the dependence of the impact transmitted to the sensor operating parameters of the load-lifting crane, directions and velocities of the boom or lifting of the body of the faucet. In particular, when installing a load cell (force) : or cargo rope (e.g., as implemented in the EN 2149820, VS 23/88, 27.05.2000 g) force transmitted to the sensor, with the same mass moved depends on the direction of movement of the lifting body. In particular, in the device according to EN 2149820 when lowering the load decreases, and when the rise - increasing efforts to be transmitted to the sensor. Physically this is due to the loss of energy to friction in block-cable system (polyspast) mechanism for lifting and lowering the lifting body and manifests as the hysteresis of the output signal in the measurement channel load of the crane. Accordingly, the magnitude of this hysteresis is especially great when a large multiplicity of Spasovka of the polyspast. Similarly on the crane with a hydraulic drive, in which the load is determined by measuring the pressure in the hydraulic cylinder of lifting and lowering the boom, the values of these pressures influence of the friction force at the cuffs-the seals of the hydraulic cylinder. These forces also depend on the direction of the arrows (rise or omitted the (e) and similarly manifested in the form of hysteresis in the measurement channel load of the crane.

Not taking into account the dependence of the output signals of the load cell from the directions and velocities of the boom or lifting of the body of the faucet reduces the accuracy of the adjustment and, accordingly, decrease the accuracy of the implementation characteristics disconnect the load-lifting crane when it overloads.

In addition, this leads to considerable complication of the installation of the load cell for crane, because of the high requirements for accuracy load measurement the sensor cannot be installed in the cargo rope, in : or cargo polyspast. It is known, for example, that on cranes with flexible suspension boom load cell is installed in a fixed braces arrows (see, for example, [1], p.90, RIS). This, in turn, leads to the complication of the maintenance of the safety device load-lifting crane, as in this case, the sensor load is high above the earth's surface and the access to it is difficult.

Technical results, seeks to achieve the proposed solution are:

- easier installation of sensors operating parameters crane without compromising the accuracy of the measurement of these parameters, in particular, by providing the possibility of installation of the load cell to the load rope or polyspast;

- simplification of the technical maintenance of the sensors of the safety device by providing the capabilities of their placement on the crane in places more convenient to access them;

- improving the setting accuracy and, accordingly, the reduction of error of compliance characteristics power device security given cargo characteristics of the crane by taking into account when configuring the device security dependency effects on the sensors parameters crane from directions and/or speeds of his arrows or hauling.

In the proposed method of configuring device security hoisting crane, which consists in the regulation of at least one signal channel load measurement, departure and/or boom angle of the conditions of the compliance characteristics of the power device security given cargo characteristics of the crane by adding and/or multiplying the result of the direct or indirect measurement of the at least one parameter of operation of the crane signals, corresponding tuning parameters whose values remain in the nonvolatile memory device security specified technical result is achieved due to the fact that the values of these tuning parameters are determined from the condition of ensuring the independence of the specified characteristics power device security from the direction and/or speed of movement of the boom or lifting of the body of the faucet and set different for different directions and/or speed of the movement.

To obtain the necessary technical results in the process of hoisting crane or during configuration of the safety device on the faucet direct or indirect method to measure the mass moved in different directions and/or speeds of the movements of the boom or lifting of the body of the faucet, and then set the values of these tuning parameters with the minimum changes of the results of these measurements when changing these directions and/or speeds. In particular, using the operator carry out a visual check of the measurement results of the mass moved and the installation of the specified tuning parameters manually or using a digital computer, implemented on the microcontroller, process values, operation parameters of the crane, causing define and automatically set the values of these tuning parameters. At the same time to improve the accuracy of determining the values of the tuning parameters, if necessary, carry out the smoothing results of measurement of weight moved when changing direction and/or speed of movement of the boom or lifting of the body of the faucet.

The values of the tuning parameters can also be determined by calculation before operating crane. is this the case when calculations take into account the friction in the mechanism for lifting and lowering the boom and/or lifting of the body of the faucet, in particular, the friction force in unit-cable-system mechanism for raising and lowering the boom and/or hauling crane or friction in the seals of the hydraulic cylinder mechanism for raising and lowering the boom.

In any case the implementation of the proposed method to obtain the necessary technical results, the values of the tuning parameters can be determined for different values of the length and/or angle of the boom as a function of at least one of these parameters. Thus the sign and/or magnitude of at least one configuration parameter is set depending on the direction and/or speed of movement of the boom or lifting of the body of the faucet.

The determination of the values of the tuning parameters can be performed periodically, in particular through a predefined number of cycles of the lifting/lowering and movement of cargo, then update the values of the tuning parameters in the nonvolatile memory device security.

In the safety device of the lifting crane that implements the proposed method and containing sensors operating parameters of the load-lifting crane, the output device and digital computer including at least a microcontroller, non-volatile storage device configured to store values of the tuning PA is amerov, and device input/output information, and non-volatile storage device, and the device input/output information connected to the microcontroller via the bidirectional communication lines, inputs, outputs, and/or bi-directional I/o device input/output information connected respectively to the outputs or bidirectional inputs/outputs of the sensors parameters crane, the output of the output device connected to at least one Executive unit load-lifting crane, and at least one input or bidirectional input/output output device connected to at least one additional output or bidirectional input/output microcontroller or device I/output of information with the microcontroller digital computer configured to read from the nonvolatile storage device of the values of the tuning parameters and their addition and/or multiplication of the output signals of the sensors parameters crane mentioned technical result is achieved due to the fact that the microcontroller digital transmitter configured to identify different directions and/or speed changes of the output signals of at least one of these sensors, as well as in what zmoznostjo define the different values of the tuning parameters depending on these directions and/or speeds and record these values in non-volatile storage device.

In particular, the microcontroller digital calculator configured to calculate mass moved in different directions and/or speed changes of the output signals of the sensors parameters crane, and determine values of the tuning parameters from the condition of minimal changes of the results of these calculations when changing directions and/or speed changes of the output signals of the above sensors.

In the proposed technical solution, because of those distinctive characteristics when configuring the device security is based compensation impacts transmitted to the sensor operating parameters of the load-lifting crane, directions and velocities of the boom or lifting of the body of the faucet. Thanks to these dependencies, manifested as the hysteresis of the output signals in the channels of the measurement parameters of the crane, do not affect the results of measurement of these parameters. This results in a significant increase in the accuracy of operation of the device security - reduction of error of formation of the required characteristics turn off the faucet, in particular the shutting off of the valve when it is overloaded.

On the other hand, the implementation of these distinctive features enables free layout(placement) of the sensors on the crane, including in places convenient for access to the sensors in their maintenance. In particular, it becomes possible to install the sensor load in the cargo rope, and : or cargo polyspast without compromising measurement accuracy of the load of the crane. Due to this simplification is achieved as the installation of sensors on the crane, and simplify their maintenance.

So the signs are in direct causal relationship with achievable technical results are significant.

The prior art is unknown, the application of these features in the system configuration safety devices and, accordingly, there is no information about their impact on achievement of the following technical results.

Figure 1 as an example of the implementation of the proposed method shows a functional configuration diagram of the device (system) security hoisting crane, figure 2 - example of installation of the load cell in the cargo rope hydraulic boom crane.

Safety device (1) contains the digital computer 1, also known as electronic control unit, a display unit, a data processing unit and the like, and sensors settings crane 2. Digital computer 1 is made on the basis of the microcontroller 3, is connected to the controls (buttons, keys is) 4, indicators (led, character LCD, etc.) 5, non-volatile memory device (chip Flash memory) 6 and the device input/output information 7.

At the device security with analog sensors 2 device input/output information 7 includes an analog-to-digital Converter, and a device with digital sensors transceiver or controller multiplex communication channel, in particular, the serial interface type CAN (Control Area Network)implemented standards ISO11898, IS11519 or type LIN (Local Interconnection Network), approved by the European Automobile Consortium. Output device 8 of the safety device comprises at least one power switch, made in the form of an electromagnetic relay or a power integrated circuit. The input output device connected to the device input/output information 7 or directly to the microcontroller 3 using separate wires or multiplex communication channel, and the return to the Executive unit 9 of the crane, which can be used, for example, an electromagnetic actuator or solenoid valve included in the hydraulic system control valve. The input device 8 can also be combined with the device input/output information 7. If the safety device has a total multiple sny the communication channel, the output device can be made on the basis of the microcontroller and connected to the multiplex communication channel is analogous to the connection of 2 sensors. In addition, individual sensors operating parameters of the crane can be connected directly to the output device 8.

The sensor 2 includes, in particular, the sensor load load-lifting crane 10, made in the form of a strain gauge force sensor in the cargo or strelba the rope or in the form of a strain gauge pressure sensors in the hydraulic cylinder for boom lift, gauge the length of the boom 11, made for example in the form of a cable drum with a potentiometric sensor of the angle of rotation, the sensor boom angle 12, made for example in the form of MEMS inclinometer/accelerometer and sensor azimuth angle 13 made, for example, in the form of a potentiometer. The safety device may also contain various additional sensors 14, which includes a limit switch hoist lifting body proximity sensor to transmission lines, discrete sensors organ movements of the crane, the travel sensor cargo winches, etc. Separate sensors, shown in the drawing, may be missing. A specific set of sensors depends on the design of the specific crane and implementations proposed the way. For example, during the implementation of the safety device for a crane sensors the length of the boom 11, the angle of the boom 12 and the sensor azimuth angle 13 is not used.

Each of the sensors 2 (10-14) may be implemented either in analog or digital. In the first case, each sensor includes a transducer (strain gauge bridge, potentiometer, etc.), the output of which is directly or through located in the sensor amplifier/inverter by means of a separate wire connected to the appropriate input device input/output information 7. If the sensor is digital - multiplexed communication channel, it is in General contains connected in series primary transducer, amplifier/Converter output signal of the transducer, the microcontroller of the sensor and the transceiver, or the driver multiplex communication channel.

To simplify the configuration of the safety device on the crane, each sensor 2 (10-14) can be performed with the normalization of the output signal. In this case, the amplifier/Converter analog sensor or amplifier/Converter and microcontroller digital sensor are performed with the possibility of compensation zero offset, linerization, temperature compensation and calibration of the gain of the sensor

The load sensor 10 can be installed, in particular, with the ability to measure efforts in the cargo rope 15 boom crane (figure 2). Cargo rope around 15 rigidly mounted on the boom guide rollers 16, 17 and located between the deflecting roller 18 that is associated with the load sensor 10. As the guide rollers 16 and 17 can be used cable rollers, which guide elements of the construction boom system of the crane. Block-cable system mechanism for lifting and lowering the lifting body of the faucet is equipped with a cargo polyspast 19, characterized by the multiplicity of its Spasovka K.

Safety device operates as follows.

Before you begin lifting crane operator (operator) using controls 4 located on a digital computer (electronic unit) 1, provides input into the microcontroller 3 parameters that define the modes of operation of the crane - position retractable poles, number of hoist winch part of the polyspast, availability, length, and angle of inclination of the jib, etc. if this faucet designs enter these parameters is necessary. The entered parameters are saved in non-volatile (Flash) memory 6 or the memory (EEPROM) of the microcontroller 3.

Area valid values position lifting (boom) equipment is the equipment of the crane is entered when the job crane parameters coordinate security controls 4 and is also stored in the microprocessor memory 3 or the storage device 6.

Managing a crane is a crane operator by moving the controls (knobs, levers and the like), for example, hydraulic crane distributors in their respective areas. For the implementation of any motion of the crane is necessary as having control of the operator, and no blocking of the movement from the side of the actuator 9.

When there is no overload of the crane truck moment and when his arrows in the zone of permissible regulations coordinate the protection of the microcontroller 3 generates the control signal output device 8 and, accordingly, the execution unit 9, permitting movement of the crane.

Using sensors 2 in the device security are implemented channels measuring operating parameters of the crane, characterizing its load and the lifting position (boom system). The microcontroller 3 digital transmitter 1 operates according to the program defined in the design of the safety device and pre-stored in its memory or storage device 6, and through the device input/output information 7 on the multiplex communication channel, or on separate lines receives from the sensors 2 values of parameters crane.

After receiving information from sensors microcontroller 3 by a known functional dependency determines the current load of the crane and lifting his position (boom) equipment. If necessary to determine the current load of the crane and/or the current position of his arrows or hauling microcontroller 3 we carry out the necessary conversion of the output signals of the sensors operating parameters of the crane 2. This takes place when the current load of the crane and/or the position of the boom or lifting of the body are measured indirectly - for example, when determining the load on the boom hydraulic crane on the pressure rod and piston cavities lift cylinder boom.

Allowable loading regimes in the form of cargo characteristics of the crane is stored in the microprocessor memory or storage device 6.

Next, the microcontroller 3 digital computer 1 compares the current load (weight lifted cargo or freight moment) crane with a maximum permissible value of the load, and comparing the actual position of lifting equipment with valid area provisions specified in the introduction coordinate protection, and depending on the results of these comparisons delivers on the output device 8, the switch-off signal actuator 9. Because of this safety device generates the necessary characteristics of disconnected movements of the crane and provides automatic protection against overload and collision with delovogo equipment with obstacles (coordinate protection). At the same time the most important parameters crane displayed on the front panel digital transmitter (electronics unit) 1 using indicators 5.

The microcontroller 3, in addition to implementing security features load-lifting crane, is also in configuration mode of the device. A program of his work in this mode is developed for the design of the safety device and stored in the microprocessor memory 3 or the storage device 6.

Configuring device security is done directly on the crane or before performing lifting operations (setting mode device security), or directly during operation of the crane. Setup required after the initial installation of the safety device on the crane, after repair or replacement of any component parts of the device, as well as periodically during operation of the safety device on the crane. This necessity is caused by the absence or inaccuracy of the normalization of the output signals of the sensors 2 (i.e. differences of the output signals of the various sensors of the same type with equal values of the measured parameters of the crane), the variations of parameters of various cranes (differences in the geometric dimensions, weight, etc.), inaccurately the TEW and eidetically installation of sensors on the crane - error installation (welding) of the fastening elements, the error in the orientation of the installation (mounting) of the elements on the sensor housing and the like, changes (drift) of the parameters of the safety device in operation, as well as the dependence of the measured sensor influences on the direction and speed of movement of the boom or lifting of the body of the crane during its normal operation.

The essence of the proposed method configuration is as follows.

Suppose that the cargo winch is lifting with the weight Q, at a certain height ΔN (see figure 2). To lift the load to a height of the cargo winch should move cargo rope 15 in length

where K - the number of hoist winch part of the polyspast.

If the lifting mechanism of the cargo was no energy loss, the increment of the potential energy

caused by lifting weight Q on height ΔN, from the cargo winch would require energy

where F is the force in the cargo rope 15.

In this case, from the expression (3) it follows that

Moreover, the force that is directly perceived by the load sensor 10 depends on the angle of deviation of the GRU is a new rope rollers 16-18 and has a value

where F - force on the load cell 10;

M - constant coefficient.

The above correlation, not taking into account energy losses in unit-cable-system mechanism for lifting and lowering, with certain assumptions, can be considered fair, as a rule, only in static modes crane, i.e. in the absence of movement of the load. In this case, the force on the load cell F proportional weight lifted cargo Q. Accordingly, the configuration of the safety device according to the channel measurement of weight lifted cargo is simple and consists in the adjustment of the value of the proportionality coefficient M in the formula (5) and, if necessary, the starting offset (the offset zero level) of the load cell 10. It provides the microcontroller 3 by multiplying and/or adding the output signal of the load sensor 10 with the values of the tuning parameters, which are stored in non-volatile storage device 6.

The values of these tuning parameters can be determined by calculation in the design of the safety device for the crane entered into the microcontroller 3 operator using controls 4 or determined by the microcontroller 3 in automatic mode without operator intervention.

In the simplest case is e, when this is configured in manual mode, the operator visually detects no load on lifting the body of the faucet and by turning the appropriate governing body 4 instructs the microcontroller 3 digital transmitter 1 to the adjustment of the safety device on the determination of the tuning parameters, which are then used in the programme of work of the microcontroller 3 digital transmitter 1 for software changes/control signals in the channels of the load lifting crane. If the device configuration is the rise of the reference load, the operator after lifting with controls 4 introduces safety device is the weight of the reference load, the more the operator's command, the microcontroller 3 provides a comparison of the measurement result weight lifted cargo with a value entered by the operator, and further similarly calculates the values of the tuning parameters and stores them in the storage device 6. If you want to determine the values of several tuning parameters specified configuration operations are carried out repeatedly at different positions of the boom or the different values of lifted cargo.

Similarly in manual mode can be made true the wizard of measurement channels of departure and/or boom angle. The only difference is that the operator in the safety device is entered is valid, for example measured by tape or optical quadrant, inset or boom angle.

If the configuration of the measurement channel load when the crane without load is in the automatic mode, the microcontroller 3, working on the program, additionally determines the time intervals during which the load on the lifting body is missing. After that, the setting is made within this time interval.

To identify these intervals, the microcontroller 3 digital computer 1 directly in the process of hoisting crane analyzes the change of one or more signals in the channels of the load measurement, departure and/or angle of the jib crane. This can be done as early in the crane, and in the process of completing a cycle of lifting/lowering and movement of cargo. The algorithm of detection of these time intervals is based on the analysis of specific features of operation of the lifting crane and identify those periods of time during which the load on the lifting body guaranteed no. These features depend on the design of hoisting crane and nature of the services provided technology the practical process of lifting/lowering and movement of cargo.

A distinctive feature of the proposed technical solution is the configuration of the safety device not only in static but also dynamic modes of operation of the crane at different directions and speeds his arrows or hauling. To implement this configuration digital computer 1 takes into account the dependence of the results of measurement of parameters of operation of the crane from these directions or speeds.

For clarification of the proposed method settings in the dynamic modes of operation of the crane will consider the relations (1)-(5) taking into account energy losses in unit-cable-system mechanism for lifting and lowering of the load.

Obviously, the expression (1) to determine the movement of the hoist rope 15 (ΔL=ΔN×K) and the expression (2) to determine the increment of potential energy when lifting (W=ΔN×Q) remain unchanged.

However, energy costs freight winch for lifting taking into account losses in unit-cable system will be:

where W to - energy losses in unit-cable system.

When replacing the cable-and-pulley system single unit equivalent from the point of view of loss of energy to friction, energy loss in unit-cable-system

where MTP - friction torque, refer to the axis of the block;

ϕ - the angle of rotation of the block.

I.e. the cargo winch to lift the load to a predetermined height ΔN it is necessary to provide not only increase the potential energy of the raised cargo, but also to compensate the loss of energy to friction in block-cable system of the lifting mechanism of the cargo.

Accordingly, when lowering cargo

i.e. when lowering the load source of energy to friction in block-cable system may be the potential energy of the descending load.

From relations (6) and (8) it follows that

Because W'=F'×ΔL, a W"=F"×ΔL, it is obvious that when the same weight Q force in the cargo rope F' when the lift is greater than the force F when lowering this burden, i.e. the force in the cargo rope 15 depends on the direction of the lifting movement of the body of the faucet.

You can also show that if, for example, the load sensor is installed in strelba the polyspast anchored on the end of the boom rope, and in this case, the force transmitted to the load sensor, will depend on the direction of the lift/lower arm, but the dependence is reversed - when lifting boom will be a reduction in the forces acting on the sensor, and when lowering the boom to increase.

If in block-cable system are the power not only dry, but viscous friction, i.e. if the friction torque in the expression 7 is not constant (MTP≠Const), it is obvious that the effort in cargo or in strelba the rope and, accordingly, the force transmitted to the load sensor, will depend not only on the direction, but speed hauling or arrows.

This also applies to any other channel parameters of the crane. For example, the measurement result of the pressure in any cylinder due to the presence of friction in the seals will depend on the direction of movement of its stem. The measurement of the azimuth angle due to the presence of backlash in the mechanical transmission will depend on the direction of rotation of the platform crane, etc.

The proposed method of configuring device security, regardless of the type and composition parameters of the crane, involves the identification of the dependencies of the results of measurement of this parameter (or parameters) from a direction and/or speed of movement of the boom or lifting body and the subsequent correction of these measurement results by adding and/or multiplying the output signals of the respective sensors with tuning parameters that are set for each sensor and have different signs and/or values for different directions and/or speeds of the boom or grussova is the main body of the faucet.

Possible variant implementations of the configuration of the safety device in manual mode is visual observation by the operator of weights lifted cargo on indicators 5 at different directions and speeds of movement of the crane with subsequent manual input of values of the tuning parameters in the device security with the help of authorities 4. If, for example, with a stationary lifting body indicators 5 displays the mass load of 10 tons, when lifting the same load of 11 tons, and lowering - 9 t, it is obvious that to compensate for the error of measurement of the weight of the microcontroller 3, after identifying the direction of movement of the load, for example by the values of the output signals of the sensor move cargo winches or sensors of the provisions of the governing bodies of the cargo hoist when lifting must multiply the value of the output signal of the sensor load adjustment factor 0,909, and when lowering - by a factor of 1.11. Moreover, the operator can determine the necessary input values of the tuning parameters (coefficients) by their selection or calculation using the data about the parameters of the crane is read from indicators 5. The criterion for the correctness of the settings is visually observed by the operator on indicators 5 independent measurements of the mass moved from the direction of motion of the article is eeee or hauling crane.

If the observed dependence of the measurement result weight lifted cargo from the velocity of the boom or lifting body, the operator, after identifying this based on the testimony of indicators 5 similarly with controls 4 introduces the necessary amendments to the tuning parameters. Next, the microcontroller 5 uses these amendments for software correction of measurement results crane load depending on the speed of movement of the load.

Configuring device security can be done in automatic mode without operator (operator's) directly in the process of hoisting crane.

In this case, the microcontroller 3, analyzing the output changes the output signals of the sensors 2 and taking into account the peculiarities of the technological cycle of lifting, moving and lowering, identifies those time intervals during which the load does not concern the loading/unloading area (land), i.e. the time intervals during which the mass moved really remains constant. This is the case, for example, in the entire interval of time after separation of cargo from the earth during its ascent (after a sharp increase and stabilize the load on the crane) until the end of its lowering (sudden load reduction). Next for automatic the display microcontroller 3 calculates the mass moved in different directions and/or speeds of the boom or lifting of the body of the faucet, and also calculates and sets the values of the tuning parameters from the condition of minimal change of these measurements when changing these directions and/or speeds. Moreover, as the base (actual) load values can be used pre-measured value of the load in a static mode of operation of the crane or the average load value obtained for different directions and/or speed of movement of the cargo (the arrows or hauling).

To improve the accuracy of determining the values of the tuning parameters with automatic settings, it is advisable to perform the smoothing results of measurement of weight moved. This smoothing can be performed by the microcontroller 3 by averaging multiple values measured mass of lifted cargo received through the intervals, the magnitude of which is set depending on the duration of transient processes of increase and decrease of the load on the crane. Another way to eliminate the influence of dynamic loads on the crane on the results of the configuration of the safety device is to exclude from consideration the initial plots of the trajectories of moving freight on which the force of inertia of the load and swinging have a significant impact on the result of measurement of its mass.

<> To compensate for the drift parameters of the instrument the safety and performance of the crane, including changes in the values of the friction forces in the mechanisms of the crane is in the process of its operation, it is expedient to implement the periodic adjustment of the values of the tuning parameters. To do this, the work program of the microcontroller 3 provides periodic, for example, through a predefined number of cycles of the lifting/lowering and movement of cargo, to update the values of the tuning parameters in the nonvolatile memory device security. During this period data update configuration settings is selected depending on the maximum possible speed of drift of the load-lifting crane and the safety device.

When carrying out the automatic settings it is expedient to limit the rapid changes of the values of the tuning parameters. This eliminates the possibility of obtaining values of the tuning parameters with large errors, significantly distorting the measurement results of the load or any other parameter of operation of the lifting crane.

Fundamentally may determine the tuning parameters by calculation, for example in the design of the safety device. When performing these calculations take into account friction in the mechanism for lifting and lowering the boom and/or hauling crane, h is the ratio of the friction force in unit-cable-system mechanism for raising and lowering the boom and/or hauling crane or friction in the seals of the hydraulic cylinder mechanism for raising and lowering the boom. Next, the resulting calculated values of the tuning parameters are determined according to the test results on the crane.

The best (or most appropriate precision instrument operation security) values of the tuning parameters can significantly depend on the length and/or angle of the boom. In this case, both in manual and automatic setting of the safety device, the values of the tuning parameters are determined and stored in non-volatile storage device 6 for different values of the length and/or angle of the boom. Next, the microcontroller 3 performs, for example, the approximation of the recorded values and then uses these tuning parameters as functions of the length and/or angle of the boom.

Implementation of the proposed technical solutions to facilitate installation and maintenance of sensors on the crane, as well as improving the accuracy of operation of the safety device and a corresponding increase of efficiency of protection of crane lifting capacity.

Sources of information

1. Sushinsky, VA, Mash D.M., Shishkov N.A. safety Devices cranes. Part 1. - M.: Centre for training and information technology, 1996, p.17.

2. Patent RU 2262481 C2, MPK7 VS 15/06, 23/88, 20.10.2005.

1. A method of configuring device security hoisting the wound, which consists in the regulation of at least one signal in at least one of the channel load measurement, and/or departure, and/or boom angle of the conditions of the compliance characteristics of the power device security given cargo characteristics of the crane by addition and/or multiplication results of the direct or indirect measurement of the at least one parameter of operation of the crane signals, corresponding tuning parameters whose values remain in non-volatile memory of the safety device, characterized in that the values of these tuning parameters are determined from the condition of ensuring the independence of the specified characteristics power device security on the direction and/or speed boom or lifting of the body of the faucet.

2. The method according to claim 1, characterized in that in the process of hoisting crane or during configuration of the safety device on the faucet direct or indirect method to measure the mass moved in different directions and/or speeds of the boom or lifting of the body of the faucet, and then set the values of these tuning parameters with the minimum changes of the results of these measurements when changing these directions and/or speeds.

3. The method according to claim 2, characterized t is m, if the operator carry out a visual check of the measurement results of the mass moved and the installation of the specified tuning parameters manually.

4. The method according to claim 2, characterized in that the digital transmitter is implemented on the microcontroller, process values, operation parameters of the crane, causing define and automatically set the values of these tuning parameters.

5. The method according to claim 4, characterized in that at the specified determination of the values of the tuning parameters perform the smoothing results of measurement of weight moved when changing direction and/or speed of movement of the boom or lifting of the body of the faucet.

6. The method according to claim 1, characterized in that the values of the tuning parameters is determined taking into account friction in the mechanism for lifting and lowering the boom and/or lifting of the body of the faucet.

7. The method according to claim 6, characterized in that account for the friction force in unit-cable-system mechanism for raising and lowering the boom and/or lifting of the body of the faucet.

8. The method according to claim 6, characterized in that account for friction in the seals of the hydraulic cylinder mechanism for raising and lowering the boom.

9. The method according to one of claims 1 to 8, characterized in that the values of these tuning parameters determine the ri of different lengths and/or boom angle as a function of at least one of these parameters.

10. The method according to one of claims 1 to 8, characterized in that the determination of the values of the tuning parameters carried out periodically, in particular through a predefined number of cycles of the lifting/lowering and movement of the load, followed by the renewing of their values in the nonvolatile memory device security.

11. A method of configuring device security hoisting crane, which consists in the regulation of at least one signal in at least one of the channel load measurement, and/or departure, and/or boom angle of the conditions of the compliance characteristics of the power device security given cargo characteristics of the crane by addition and/or multiplication results of the direct or indirect measurement of the at least one parameter of operation of the crane signals, corresponding tuning parameters whose values remain in non-volatile memory of the safety device, characterized in that the values of the at least one tuning parameter set is different for different directions and/or the speeds of the boom or lifting of the body of the faucet.

12. The method according to claim 11, characterized in that the values of the tuning parameters determined prior to the operation of loading of the crane is calculated.

13. The method according to item 12, wherein when performing the calculations take into account friction in the mechanism for lifting and lowering the boom and/or lifting of the body of the faucet.

14. The method according to item 13, wherein the account of the friction force in unit-cable-system mechanism for raising and lowering the boom and/or lifting of the body of the faucet.

15. The method according to item 13, characterized in that account for friction in the seals of the hydraulic cylinder mechanism for raising and lowering the boom.

16. The method according to one of 11 to 15, characterized in that the values of these tuning parameters are determined for different values of the length and/or angle of the boom as a function of at least one of these parameters.

17. Safety device of the crane, containing sensors parameters of its work, the output device and digital computer including at least a microcontroller, non-volatile storage device configured to store values of the tuning parameters, and device input/output information, and non-volatile storage device, and the device input/output information connected to the microcontroller, the input and/or bi-directional I/o device input/output information connected respectively to the outputs or bidirectional inputs/outputs of the sensors parameters crane, the output of the output device connected to at least one Executive unit crane, and minicamera one input or bidirectional input/output output device connected to at least one additional output or bidirectional input/output microcontroller or device input/output information, this microcontroller digital computer configured to read from the nonvolatile storage device of the values of the tuning parameters and their addition and/or multiplication of the output signals of the sensors parameters crane, characterized in that the microcontroller digital transmitter configured to identify different directions and/or speed changes of the output signals of at least one of these sensors, as well as with the ability to determine different values of the tuning parameters depending on these directions and/or speeds and record these values in non-volatile storage device.

18. Safety device according to 17, characterized in that the microcontroller digital calculator configured to calculate mass moved in different directions and/or speed changes of the output signals of the sensors parameters crane, and determine values of the tuning parameters from the condition of minimal changes of the results of these calculations when changing directions and/or speed changes of the output signals of the above sensors.



 

Same patents:

FIELD: mechanical engineering.

SUBSTANCE: proposed system contains parameters recorder of load-lifting machine, computer and portable readout device with non-volatile memory. Parameters recorder includes load-lifting machine parameters transducers, digital calculator and memory connected to digital calculator, load-lifting machine operating parameters transducers being connected to digital calculator. Portable readout device is made in form of video camera or smartphone or cellular telephone with built-in video camera which is furnished with non-volatile memory and is made for connection to digital calculator of load-lifting machine parameters recorder and to computer. Computer is made for reading data of parameters recorder from portable readout device and subsequent processing of data, and for entering into non-volatile memory image of position of mechanisms of load-lifting machine, and/or its working zone, and/or for transmission of data of load-lifting machine parameters recorder into computer along cellular communication circuit.

EFFECT: enlarged functional capabilities of recording of load-lifting machine parameters, facilitated serving of machine, increased reliability and dependability of recording of load-lifting machine parameters.

20 cl, 1 dwg

FIELD: mechanical engineering; load-lifting cranes.

SUBSTANCE: invention relates to overload and damage protection of load-lifting cranes. According to proposed method, to prevent emergencies preliminarily determined are tolerable values of parameters characterizing load, and/or spatial position of crane boom and/or load gripping member which are memorized and, in process of operation of crane, one of said parameters is measured and compared with tolerable value, and signals are formed to control crane actuators aimed at preventing excess of tolerable value by measured parameter. Determination of parameters characterizing spatial position of boom, load-gripping member, supports, construction members of other crane or any obstacle in height is based on measuring values of barometric pressure in corresponding points and subsequent calculation of heights. Construction is simplifier, and effective protection of spatial position pickups of crane from mechanical damages if provided. Safety of load-lifting crane in operation is improved owing to accurate and effective measuring of distance between crane and obstacles and prevention of emergencies caused by tilting of fixed platform or portal of crane from horizontal position and in case of approaching thunderstorm.

EFFECT: improved safety of load-lifting crane.

25 cl, 1 dwg

FIELD: materials loading machinery.

SUBSTANCE: invention relates to load-lifting crane protection and control devices and to method of crane control after interlocking of crane motion by protection system. proposed method consists n determining tolerable values of parameters characterizing load and/or spatial position of crane boom-or load-gripping member, and/or distance to transmission line, recording the parameters and measuring in process of operation of load-lifting crane by direct or indirect method of at least of one of said parameters and comparing measured value with tolerable one and subsequent forming of control signals by at least one of operating devices of load-lifting crane designed to preclude excess of tolerable value by said parameter. Additionally, by analyzing values and/or changes of parameters of operation of load-lifting crane, prehistory of operation of load-lifting crane is revealed and recorded which leads to forming of said control signals aimed at precluding excess of tolerable value by said parameter, and order of formation of control signals after prevention of said excess is set depending on indicated prehistory.

EFFECT: improved safety of operation of load-lifting crane and provision of convenience in operation.

16 cl, 1 dwg

FIELD: overload protection, controlling and regulation systems for hoisting cranes.

SUBSTANCE: method involves preliminarily determining and memorizing allowable loading values and diagnostic parameter values characterizing technical state of crane hydraulic system; during operation of crane, measuring and comparing loading and diagnostic parameter current values with allowable values; generating warning signal or blocking crane operation; additionally determining rotational velocity of pump shaft or power unit shaft of crane and velocity of crane lever or load-handling device and/or rotary platform of crane; determining current value of diagnostic parameter, with values of these velocities being taken into consideration. System for effectuating said method has digital calculator based on microcontroller, actuating device and operating parameters sensors for hoisting crane and its hydraulic system. Method and system provide for full, reliable and operative diagnosis of hydraulic system enabled owing to controlling of said system during operation of hoisting crane in dynamic modes under loading.

EFFECT: reduced consumption of power for accomplishment of hoisting operations by preventing crane from operation at low efficiency of hydraulic drive.

13 cl, 1 dwg

FIELD: mechanical engineering; load-lifting equipment.

SUBSTANCE: invention relates to overload and damage protection device of load-lifting cranes and pipelayer cranes. Proposed method comes to adjusting at least one signal in load measuring channels and/or reach, and /or angle of boom tilting by adding and/or multiplying said signal with at least one signal corresponding to at least one adjusting parameter whose value is preliminarily determined and kept in nonvolatile memory of safeguard. Signal is adjusted at no load-gripping member of load-lifting crane at zero value of mass of lifted load or load moment in lifting crane load limiting channel. For this purpose value of at least one of said adjusting parameters is determined at no load on load-gripping member of load-lifting crane.

EFFECT: improved accuracy of safeguard and efficiency of protection of load-lifting crane.

10 cl, 1 dwg

FIELD: mechanical engineering; materials handling facilities.

SUBSTANCE: invention relates to controls of load-lifting mechanisms. Proposed device for measuring tension force of load-lifting mechanism contains base and force take-up mechanism with force sensor connected to mechanism. Force take-up mechanism is made in form of multiple-link mechanism including two inclined rods connected to base, articulated two-link mechanism connecting free ends of inclined rods and central link forming maximum deflection of articulated two-link mechanism. One end of central link is connected to middle joint of two-link mechanism, second end is coupled with base through mechanism shifting end of central link relative to base, and force sensor is built into central link.

EFFECT: simplified servicing of load-lifting mechanisms.

4 cl, 4 dwg

FIELD: mechanical engineering; materials handling facilities.

SUBSTANCE: invention can be used in safeguards of boom lifting cranes. Proposed method provides for preliminary determination and storing of maximum tolerable value of load moment and determination on current value of moment by two methods in process of crane operation. Each method includes measuring working parameters of crane characterizing current load and current radius with subsequent calculation of current value of load moment. To generate warning signal or crane control signal, memorized maximum tolerable value of load moment is compared either with one of pre-calculated current values of load moment, or with maximum calculated value of two values. Current values of load moment obtained by first and second methods are compared additionally and if they differ crane control signal of formed.

EFFECT: provision of overload protection of load-lifting crane of any type, prevention of crane downtimes caused by frequent failures pf safety system.

16 cl, 1 dwg

FIELD: mechanical engineering; load lifting.

SUBSTANCE: invention is designed for use in crane systems to prevent collision of load-lifting cranes with obstacles. Method provides change of spatial position of crane boom or load-gripping member, measuring of at least one coordinate of said positions, memorizing value of coordinate by first command of crane operator and forming working zone of crane with use of memorized value of said coordinate. After first command of crane operator when changing spatial position of boom or load grip-ping member of crane, values of said coordinate are memorized additionally through preset lapses of time or after change of said coordinate through preset value. Process of memorizing is stopped by second command from crane operator. Forming of working zone of crane is effected by calculating borders of zone with use of memorized values of coordinate. At calculations, closure of trajectory of displacement of boom or load-gripping member along at least one said coordinate is revealed. If trajectory closure is presents, working zone of crane is formed within the limits of changes of memorized values of coordinate. At no closure, working zone is formed as sector with center in axis of crane rotation and arc, in common case, curvilinear, whose coordinates do not exceed its maximum memorized values.

EFFECT: possibility of setting working zone of any form by crane operator, including three-dimensional one, taking into account sizes and type of hoisted load and near transmission lines, simplified work of crane operator and design of coordinate protection system.

16 cl, 4 dwg

FIELD: mechanical engineering.

SUBSTANCE: according to proposed method of supporting crane operator to provide safe operation of load-lifting crane, operating parameters of crane are measured and processed and information is shown on display for necessity of taking measures to eliminate emergency situation. Data base is created additionally concerning combination of operating parameters of crane at different loads and spatial positions of boom or load-gripping member giving rise to danger at crane operation and said data base is kept on crane. Forecasting of appearance of emergency situation is provided by means of computer with use of data base and, when necessary, by means of mathematical model of crane, and additional measures taken by crane operator to prevent trouble are shown on display.

EFFECT: improved safety of crane operation and operating conditions for crane operator.

22 cl, 1 dwg

FIELD: mechanical engineering; boom cranes.

SUBSTANCE: invention can be used in control, protection and monitoring systems of load-lifting machines, mainly, boom cranes. Diagnosing of safeguard is carried out by comparing output signals of parameters of load-lifting machine. Faults are revealed basing on results of comparing. Comparing is done by revealing combination of values and/or speeds and/or signs of speeds of change of output signals from different parameter pickups of load-lifting machine not encountered in process of operation of machine when safeguard is in good repair. If such combination is revealed, fault signal is generated. Simultaneously output signals of analog and discrete pickups of parameters of load-lifting machine characterizing its load, geometry, modes and conditions of operation are analyzed and contradictions in output signals of safeguard pickups and signals from actuators are looked for.

EFFECT: improved safety of load-lifting machine in operation, reduced down time, simplified and enlarged operating capabilities of safeguard.

24 cl, 2 dwg

FIELD: mechanical engineering; load-lifting equipment.

SUBSTANCE: invention relates to overload and damage protection device of load-lifting cranes and pipelayer cranes. Proposed method comes to adjusting at least one signal in load measuring channels and/or reach, and /or angle of boom tilting by adding and/or multiplying said signal with at least one signal corresponding to at least one adjusting parameter whose value is preliminarily determined and kept in nonvolatile memory of safeguard. Signal is adjusted at no load-gripping member of load-lifting crane at zero value of mass of lifted load or load moment in lifting crane load limiting channel. For this purpose value of at least one of said adjusting parameters is determined at no load on load-gripping member of load-lifting crane.

EFFECT: improved accuracy of safeguard and efficiency of protection of load-lifting crane.

10 cl, 1 dwg

FIELD: materials handling facilities.

SUBSTANCE: group of inventions relates to devices for checking condition of safeguards of load-lifting machines and reading parameters of built-in parameters recorders. Proposed method comes to revealing output signals of separate components of safeguard and transmitting signals to control device, processing signals and their recording in control device according to prestored signals determining sequence of processing and recording and forming, by control device, in case of necessity, replacement test signals in compliance with prestored signals determining sequence of forming of replacement test signals and transmitting the latter to separate components of safeguard. Revealing of output signals and forming of replacement test signals is done by receiving and transmitting sequential digital signals by multiplexed communication line at asynchronous or synchronous modes by algorithms specified by sequential protocols. Proposed device to control safeguard of load-lifting machine contains control unit, data input-output module and memory module. Data input-output module is made in form of transceivers of multiplexed communication line CAN, LIN, RS-232, USB or IrDA of interface. Group of invention provides both control of safety of safeguard and reading of data of built-in parameters recorder making it possible to reveal troubles of connecting bundles, control and diagnosing of condition of safeguard directly on load-lifting crane, improve safety of crane at partial failures of safeguard owing to automatic or manual program disconnection and subsequent replacement of any defective functional unit of safeguard without its physical disconnection and without complete disconnection of partially failing safeguard.

EFFECT: improved control of safeguard.

12 cl, 1 dwg

FIELD: materials handling equipment.

SUBSTANCE: invention relates to methods of protection of boom load-lifting cranes and pipelayer cranes from overloads and damage. Adjustment is carried out by lifting calibrated load of preset mass in points of load characteristic with known parameters of boom equipment and regulating signals in load, reach and/or boom tilt angle measuring channels to provide correspondence of safeguard characteristic to preset load characteristic of crane. In process of regulation of signals in load, reach and/or boom tilt angle measuring channels, values of output signals of corresponding sensors are kept constant and regulation is done by adding and/or multiplying output signals from sensors and signals corresponding to adjusting parameters. Values of the latter are preliminarily determined and kept in nonvolatile memory of safeguard.

EFFECT: reduced labor input in adjustment of safeguard on load-lifting crane, provision of interchangeability of all components, possibility of adjustment of device on any type of load-lifting crane with unspecified mounting of load sensor.

6 cl, 2 dwg

FIELD: materials handling equipment.

SUBSTANCE: invention relates to methods of protection of boom load-lifting cranes and pipelayer cranes from overloads and damage. Adjustment is carried out by lifting calibrated load of preset mass in points of load characteristic with known parameters of boom equipment and regulating signals in load, reach and/or boom tilt angle measuring channels to provide correspondence of safeguard characteristic to preset load characteristic of crane. In process of regulation of signals in load, reach and/or boom tilt angle measuring channels, values of output signals of corresponding sensors are kept constant and regulation is done by adding and/or multiplying output signals from sensors and signals corresponding to adjusting parameters. Values of the latter are preliminarily determined and kept in nonvolatile memory of safeguard.

EFFECT: reduced labor input in adjustment of safeguard on load-lifting crane, provision of interchangeability of all components, possibility of adjustment of device on any type of load-lifting crane with unspecified mounting of load sensor.

6 cl, 2 dwg

FIELD: materials handling facilities.

SUBSTANCE: group of inventions relates to devices for checking condition of safeguards of load-lifting machines and reading parameters of built-in parameters recorders. Proposed method comes to revealing output signals of separate components of safeguard and transmitting signals to control device, processing signals and their recording in control device according to prestored signals determining sequence of processing and recording and forming, by control device, in case of necessity, replacement test signals in compliance with prestored signals determining sequence of forming of replacement test signals and transmitting the latter to separate components of safeguard. Revealing of output signals and forming of replacement test signals is done by receiving and transmitting sequential digital signals by multiplexed communication line at asynchronous or synchronous modes by algorithms specified by sequential protocols. Proposed device to control safeguard of load-lifting machine contains control unit, data input-output module and memory module. Data input-output module is made in form of transceivers of multiplexed communication line CAN, LIN, RS-232, USB or IrDA of interface. Group of invention provides both control of safety of safeguard and reading of data of built-in parameters recorder making it possible to reveal troubles of connecting bundles, control and diagnosing of condition of safeguard directly on load-lifting crane, improve safety of crane at partial failures of safeguard owing to automatic or manual program disconnection and subsequent replacement of any defective functional unit of safeguard without its physical disconnection and without complete disconnection of partially failing safeguard.

EFFECT: improved control of safeguard.

12 cl, 1 dwg

FIELD: mechanical engineering; load-lifting equipment.

SUBSTANCE: invention relates to overload and damage protection device of load-lifting cranes and pipelayer cranes. Proposed method comes to adjusting at least one signal in load measuring channels and/or reach, and /or angle of boom tilting by adding and/or multiplying said signal with at least one signal corresponding to at least one adjusting parameter whose value is preliminarily determined and kept in nonvolatile memory of safeguard. Signal is adjusted at no load-gripping member of load-lifting crane at zero value of mass of lifted load or load moment in lifting crane load limiting channel. For this purpose value of at least one of said adjusting parameters is determined at no load on load-gripping member of load-lifting crane.

EFFECT: improved accuracy of safeguard and efficiency of protection of load-lifting crane.

10 cl, 1 dwg

FIELD: materials handling facilities; crane safeguards.

SUBSTANCE: invention relates to overload and damage protection of load-lifting cranes and cranes-pipelayers. Proposed method comes to adjusting at least one signal in at least one load measuring channels and/or reach, and/or luffing angle to provide correspondence of safeguard switch off characteristic to preset load characteristic of crane by adding and/or multiplying results of direct or indirect measurement of at least one of crane operating parameters and signals corresponding to adjustment parameters whose values are stored in non-volatile memory of safeguard. Values of adjustment parameters are determined to provide independent switching off characteristic of safeguard from direction and/or speed of boom movement or speed of movement of crane load gripping members. Different adjustment parameters for different directions and/or speeds of boom and/or load-gripping member can be set.

EFFECT: simplified mounting and servicing of safeguards on crane, improved accuracy of realization of protection functions.

18 cl, 2 dwg

FIELD: mechanical engineering; load-lifting cranes.

SUBSTANCE: invention can be used in control and protection system of load lifting cranes to preclude overloads and damage in crane mechanisms. Proposed system consists of separate parts made in form of at least one electronic unit and pickups measuring parameters of load-lifting crane. To supply electronic circuit of any component of safety system use is made of self-contained supply source which is constantly or periodically charged. Conversion of mechanical energy of load or boom rope, or energy of measured parameter of operation of load-lifting crane, mechanical energy of measured load in boom or load rope, angle of azimuth length of boom, etc or hydraulic energy of measured pressure in hydraulic cylinder or in hydraulic boom lifting/lowering motor, load-gripping member or slewing platform of load-lifting crane or energy of external mechanical, acoustic or heat ambient medium onto parameter pickup of load lifting crane into electric energy is provided.

EFFECT: simplified servicing, improved reliability, provision of serviceability of safety system at cut off supply.

23 cl, 1 dwg

FIELD: mechanical engineering.

SUBSTANCE: invention relates to safety and control systems of load lifting cranes. Proposed method of supply of measuring and control component part of safety and control system arranged on boom or tackle block of load-lifting crane comes to use of self-contained supply source with automatic charging the source from generator - converter of mechanical energy of moving load or boom wire rope of load-lifting crane or block directing or supporting the wire, rope, into electric energy. According to invention, said component part of safety and control system of crane provides measuring of at least one operating parameter and control of loads, particularly, marker light and/or headlight. To charge self-contained supply source, in additional of wire rope motion energy, use can be made of energy of external mechanical actions, solar energy or heat energy of surrounding medium. Transmission of data between component parts of system can be provided by wireless data exchange channel.

EFFECT: facilitated maintenance, increased reliability, provision of serviceability of safety and control system of crane.

16 cl, 2 dwg

FIELD: mechanical engineering; lifting and transportation machine building.

SUBSTANCE: invention can be used in control and protection system of load-lifting cranes. Proposed system contains load pickups 1, boom tilting angle pickups 5, parameters indicator 6 and series-connected tolerable load setting unit 8, comparator 9 and actuating unit 10 whose output is connected to first input of parameters recorder 11, unit to record designed values of parameters 12, correction unit 3, load weight check unit 2, scaling unit 4, variable coefficients unit 14, change-over switch 15, boom deflection recording unit 13 and boom reach calculating unit 7.

EFFECT: improved safety of crane owing to increased accuracy of control of its parameters.

2 cl, 2 dwg

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