Method and system of control and anticollision protection of multiple jointly operating tower cranes

FIELD: construction.

SUBSTANCE: series of inventions refers to the sphere of tower crane operation security engineering. The method in question presupposes exchange of information on the cranes locations, movements and equipment loads between the control and protection devices of all the "n" jointly operating tower cranes. Additional features: identification of the position of each crane and/or its equipment against the construction site plan, conventional graphical visualisation of the position within the construction site territory of a specified crane and/or its equipment (as well as that of the "neighbouring" cranes and equipment related to them) on the crane display. When the crane operator initiates relocation of equipment related to crane Ki the following is carried out: the intended equipment motion path tracing, display graphical visualisation of the intended motion path(s) of the equipment related both to crane Ki and the "neighbouring" crane(s) whose equipment is currently in motion (by means of exchange of information between the control and protection devices), estimation of the minimum distance between the above paths, graphical visualisation of the point of intersection on the crane Ki display and generation of a signal disabling operation of this crane equipment and light and sound alarm signals in case the paths as having been traced happen to intersect. In order to enable further motion of the crane Ki equipment there is an additional line to be plotted by the crane operator which is intended to restrict motion of the crane equipment (the line becomes graphically visualised on the crane Ki, screen); in case the limiting line has been plotted erroneously operation of the crane Ki equipment and mechanisms is automatically disabled when at the paths intersection point.

EFFECT: improving the hoisting cranes operation standard of safety.

4 cl, 3 dwg

 

The invention relates to techniques for ensuring the safety of tower cranes.

Known methods of control and protection from collisions working in the group of tower cranes, including the exchange of information between the control devices and the protection installed on each of the "n" working in a group of tower cranes, position, motion and load his equipment, implemented, for example, in anticollision systems "SMIE-AC30 (France). System SMIE-AC30 contains installed on each valve device management and protection of the crane, including the first group of sensors, control equipment parameters of the crane and the digital computer Central processor, to the first input of which is connected to these sensors, the first output display, and the second output - actuating unit. The processors are interconnected by a cable or radio communication, forming a joint communication network for the exchange of information about position, movement and loading of equipment cranes (see Dana Rafikova. Anti-collision system "SMIE-AC30" protection of cranes. The magazine Lifting facilities. Special technique". 2001. No. 4). In the "SMIE-AC30 position of the crane and its equipment known as the crane is tied to specific areas of the site. Controlling the speed of movement of the crane and its equipment and the load of the crane (cargo weight), the machine is R calculates what the final position will take the equipment (boom or truck with the cargo hook), if at the moment will start braking in an optimal manner. The device at the other crane makes similar calculations for your faucet and both devices to share the results of the calculations. When the calculations indicate proximity crane equipment starts automatically stop valves each device. At the same time on the display device control and protection of cranes (hereinafter displays valves) are specified in the dangerous direction of movement and safe ways of output taps of the overlapped areas. Thus, this system does not block access cranes in the overlapped area, allows simultaneous operation of cranes by successive (as needed) reduce their speeds, avoiding collisions. However, the disadvantage of this system is that the stop valves only happens when the proximity of the equipment tower cranes, which in some cases causes the need for bypass or return movements, i.e. reduce performance and energy losses.

The problem to which the invention is directed, is to develop ways to manage and protect it from collisions working in the group of tower cranes, which would be higher without the security and efficiency of tower cranes by creating information signals, anticipating the beginning of the movement or restricting the movement of the crane equipment in case of a possible crossing their paths.

The goal of the project is achieved in that in the known method of control and protection from collisions working in the group of tower cranes, including the exchange of information between the control devices and the protection installed on each of the "n" working in a group of tower cranes, position, motion and load his equipment, according to the invention additionally determine the position of each valve and its equipment on the site plan, form on the display device control and protection of the crane conditional graphical representation of the position of the crane and its equipment on the site plan and conditional graphical image of the provisions of the "related" or "related" cranes and his or their equipment, when initiated by the operator moving equipment crane Toidetermine the trajectory of the movement of this equipment and crane form on the display of the graphical image of the assumed trajectories of equipment crane Kiand "contiguous" or "adjacent" cranes moving at the moment the equipment through the exchange of information between their devices, control and protection, determine the minimum distance between what rectorem, when crossing trajectories display on the display of the crane Kithe point of intersection to form a signal lock mechanisms of the crane, as well as signals for alarm light and audible alarm, to continue the movement of the equipment of the crane Toithe commands of the operator optionally form a line, limiting the movement of equipment of this faucet, and displays it on the display of the crane Toiand when there are errors during the formation of the boundary lines automatically block the mechanisms of the crane Toiat the point of intersection of these trajectories.

In addition, when forming the boundary lines take into account the inertia of the floating equipment.

With respect to the system implementing the claimed method of control and protection from collisions working in the group of tower cranes, the goal of the project is achieved in that in the known system containing installed on each valve device management and protection of the crane, including the first group of sensors, control equipment parameters of the crane and the digital computer, to the first input of which is connected to these sensors, the first output display, and the second output - actuating unit, while digital computers are connected by a serial line interface for the exchange of information is to her about the situation, movements and load equipment cranes, according to the invention, each device control and protection of the crane is equipped with a second group of sensors installed on the organs of the traffic management mechanisms and connected to the second input of the digital computer, and the keyboard to set the operating mode of the crane is connected to the third input of the digital computer, and each digital computer is configured to determine the position of each valve and its equipment on the site plan, are formed on the display tap the conditional graphical image position of the crane and its equipment on the site plan and conditional graphical image of the provisions of the "related" or "related" cranes and its or their equipment on the site plan, determine when to initiate the moving equipment of the crane Toithe intended trajectory of the equipment of this crane and forming on the display of the graphical image of the assumed trajectories of equipment crane Toiand "contiguous" or "adjacent" cranes moving at the moment the equipment, determine the minimum distance between these trajectories, the display of the crane Toithe point of intersection of the trajectories and formation of this signal, the lock mechanisms of the crane and the signal is s alarm light and audible alarm, the formation of the line, limiting the movement of equipment crane Toiif necessary, continue the movement of his equipment and display this line on the display of this valve, and automatic locking operation of the crane Toiat the point of intersection of these trajectories in the presence of errors in the formation of the bounding lines.

The digital transmitter of each device control and protection of the crane may include a block definition load and position of the equipment of the crane, the unit of measure speed equipment of the crane, the unit detect the trajectory of the equipment of the crane, the unit for determining the minimum distance between points of trajectories of the equipment cranes, the block matches the block forming the display unit job of the bounding lines, the delay line block amplifiers, and the output of the block definition load and position of the equipment of the crane is connected through serially connected block determination of the speed of the equipment of the crane and the block definition of the motion path to the first inputs of the processing unit indication unit determining a minimum distance between points of trajectories of the equipment cranes and block matching, the output of block job bounding lines connected to the second inputs of the block defining the trajectory on which orogovenia crane and block matches the third input of which is connected to the output of the block defining the minimum distance between points of trajectories of the equipment cranes and output through the delay line to the input of the amplifier, the first input of the digital computer is the entrance to the block definition load and position equipment crane, a second input, a United third input of the block forming zone and the fourth input of the coincidence, and the third input - input unit job of the bounding lines, input/output digital computer are combined second input unit for determining the minimum distance between points of trajectories of the equipment cranes and block the formation of the display panel, and first and second outputs of the digital computer are respectively the outputs of the processing unit and display unit amplifiers.

The technical result from the use of this invention is to improve safety on one site group of tower cranes and increase their efficiency by eliminating bypass or return movements at the intersection of the trajectories of moving equipment adjacent cranes.

Figure 1 shows fragments of images on the display one of the two adjacent tower cranes at various displacements equipment cranes; figure 2 - block diagram of a system that implements the proposed is by way of the control and protection from collisions working in the group of tower cranes; figure 3 - functional diagram of the device control and protection of the crane.

Figure 2 and 3 shows the following notation:

1 - device control and protection of the first valve;

2 - device control and protection of the second valve;

3 - line serial interface;

4 - the first group of sensors, control equipment parameters of the first valve;

5 - digital computer;

6 display;

7 - the second group of sensors monitor the position, controls the first valve;

8 keyboard to set the mode of operation of the first valve;

9 - the Executive unit;

10 - the first group of sensors, control equipment parameters of the second valve;

11 - digital computer;

12 display;

13 - the second group of sensors monitoring the position of the controls of the second valve;

14 keyboard to set the mode of operation of the second valve;

15 - the Executive unit;

16 - the first input digital computer;

17 - second input of the digital computer;

18 block definition load and position of the equipment of the crane;

19 is a block for determining the speed of movement of the equipment of the crane;

20 is a block for determining the trajectory of the equipment of the crane;

21 - forming unit display;

22 - the first digital computer;

23 is a block for determining the minimum distance between points of trajectories of the equipment, the Finance cranes;

24 - input/output digital computer;

25 - block matches;

26 - the third input digital computer;

27 - unit assignments bounding lines;

28 - delay line;

30 - second output digital computer.

Fragments of images, in particular, on the display of the crane To2presented in figure 1, is made in the assumption that the crane K1with centre O1the rotation of his arrows below the faucet To2with centre O2the rotation of his arrows, i.e. you can contact the cable running from the truck T crane To2from any point of the arrow O1A crane K1.

The proposed method provides for the management and protection of cranes K1and K2operating in the following modes:

a) the initiation and the beginning of the movement of the equipment of the crane To2sweep TR with a stationary equipment crane K1;

b) initiation and the beginning of the movement of the equipment of the crane To2sweep TR when moving equipment crane K1;

C) the initiation and the beginning of moving equipment crane K1sweep AB with a stationary equipment crane To2;

g) the initiation and the beginning of moving equipment crane K1sweep AB when moving equipment crane To2.

Shaded areas depict on the display positions of the equipment cu is on, i.e. zones that should not get "connecting" the crane when moving his equipment. Dotted around the projection of the boom of the crane is marked tolerance for error stop boom crane, calculated based on parameters of motion (inertia) of the equipment. Figure 1 shows examples of simple movements (rotation jib cranes), although the combination of movements (for example, rotation of the boom of the crane and moving the crane along the way, rotation of the boom of the crane and moving the cart) the display shows the trajectory of a total of more complex movements.

The proposed method is as follows.

On signals from sensors installed on the equipment of two adjacent cranes K1and K2determine the position of the valves, their equipment on the site plan and the load equipment. Form on the display of the crane To1conditional graphical representation of the position of the valve K1on the site plan in the form of a point O1and the position of his arrows in a line O1A, and the conditional graphical image position adjacent crane To2as point About2and equipment - boom trolley T line O2T by exchanging information between the control devices and the protection installed on cranes K1and K2about position, movement and load their equipment. Similar image fo mirouet on the display of the crane To 2.

When initiated by the operator moving equipment crane To2(turning his arrows with a fixed trolley T) by moving the respective governing body determine the trajectory of the movement of the crane To2his truck form on the display of the graphic image to the intended trajectory of the equipment of the crane To2(dotted line TR) and the position of the arrows adjacent the faucet K1through the exchange of information between their devices, control and protection.

If the crane boom K1the stationary and the moving equipment of the crane To2does not intersect the projection of the boom of the crane K1(line O1Figa), then after the set time delay signal to switch on the rotation mechanism of the crane's boom To2to the desired position (point P). If the valve K1works and the bolt is rotated, it is additionally formed on the display of the crane To2conditional graphical depiction of the path of the hook of the crane's arm K1on the site plan and determine the minimum distance between these trajectories. When crossing trajectories display on the display tap To2intersection point (point "C" on figb) and form a blocking signal of the mechanisms of the crane To2and signals for trevon the th light and sound alarm.

To continue the rotation of the crane's boom To2the commands of the operator optionally form a line MN, limiting the movement of equipment of this faucet, taking into account the inertia of the floating equipment, and displays it on the display of the crane To2and when there are errors during the formation of the boundary lines, for example, line CL, automatically block the mechanisms of the crane K2at the point C of intersection of these trajectories. This option works to minimize the cost of time and energy consumption is possible due to the fact that the display of the crane To2show the possible movement of the boom of the crane K1(figb), but the crane boom can stop, for example, on the line O1D without interfering with the movement of the crane's boom To2.

Similarly, there is the beginning of the movement of the crane K1.

When initiated by the operator moving equipment crane K1(turning his arrows) by moving the respective governing body determine the trajectory of the movement of the crane hook K1and form on the display of the graphic image to the intended path of movement of the crane hook K1(the dotted line AB on figv) and the position of the boom with a cart allied crane To2through the exchange of information between their devices, control and protection.

If all is as crane To 2the stationary and the moving equipment of the crane K1does not intersect the projection of the boom of the crane To2(the line About2T FIGU), then after the set time delay signal to switch on the rotation mechanism of the crane's arm K1to the desired position (point B). If the crane To2works (arrow turns), it is additionally formed on the display of the crane K1conditional graphical image of a trajectory of movement of the crane hook To the2on the site plan and determine the minimum distance between these trajectories. When crossing trajectories display on the display of the crane K1intersection point (point "C" on Figg) and form a blocking signal of the mechanisms of the crane K1and signals for alarm light and audible alarm.

To continue the rotation of the boom of the crane K1the commands of the operator optionally form a line MH, limiting the movement of equipment of this faucet, taking into account the inertia of the floating equipment and displays it on the display of the crane K1and when there are errors during the formation of the boundary lines, for example, line CL, automatically block the mechanisms of the crane K1at the point C of intersection of these trajectories. This option works to minimize the time and energy possible because that is about, what's on the display of the crane K1show the possible movement of the boom of the crane To2(Figg), but the crane boom can stop, for example, on the line O2D without interfering with the movement of the boom of the crane K1.

System control and protection from collisions working in the group of tower cranes contains the unit 1 control and protection of the first valve K1and the unit 2 control and protection of the second valve To a2. Devices 1 and 2 are connected by a line 3 of the serial interface. Technically, communication between devices may be carried by cable or by radio.

Unit 1 management and protection of the first valve contains a first group of 4 sensors, control equipment parameters of the first valve, connected to the first input 16 digital computer 5. To the first output 22 digital computer 5 connected display device 6 and to the second output 30 - the Executive unit 9. To the second input 17 digital computer 5 connected to the second group of 7 sensors monitor the position, controls the first valve (levers, buttons, joysticks and the like), and to the third input 26 of the keyboard 8 to set the mode of operation of the first valve. Digital computer 7 has an input/output 24 for connecting lines 3 serial interface for exchanging information with the second device management and protection of allied crane To2Il is with other control devices and the protection of adjacent taps.

Accordingly, the unit 2 control and protection of the second valve To a2contains the first group of 10 sensors control the hardware settings of the second crane digital computer 11, a display 12, a second group of 13 sensors controlling the position of the controls of the second crane, a keyboard 14 for setting the operation mode of the second valve and the actuating unit 15. Digital computer 11 has an input/output for connecting lines 3 serial interface for exchanging information with the first device or other control devices and the protection of adjacent taps.

The sensors control the hardware settings of the crane and digital solvers provide the functioning of the safety devices each valve, protecting them from overloads and inadmissible displacement equipment.

Sensors monitor the position of the controls and educated in digital computers software function blocks provide the functioning of the safety devices each valve, protecting the latter from invalid mutual movements of cranes and equipment.

Digital computer 5 controls and protection of the crane includes a block 18 determining the load and position of the equipment of the crane, block 19 determine the speed of the equipment of the crane, block 20 defining the trajectory of the equipment of the crane, block 2 forming zone, unit 23 for determining the minimum distance between points of trajectories of the equipment cranes, block 25 matches, block 27 job of the bounding lines, the delay line 28 and block 29 amps.

The output of block 18 to determine the load and position of the equipment of the crane is connected through serially connected unit 19 determine the speed of the equipment of the crane and the block 20 defining the trajectory of the equipment of the crane to the first input unit 21 forming the display unit 23 for determining the minimum distance between points of trajectories of the equipment cranes and block 25 matches.

The output unit 27 job bounding lines connected to the second inputs of the block 20 defining the trajectory of the equipment of the crane and the block 25 matches, the third input of which is connected to the output unit 23 for determining the minimum distance between points of trajectories of the equipment cranes and output through the delay line 28 to the input unit 29 amps.

The first input 16 digital transmitter 5 is the input unit 18 to determine the load and position of the equipment of the crane, a second input 17 - combined third input unit 21 of the forming zone and the fourth input unit 25 matches, and the third input 26 input unit 27 job bounding lines.

Input/output 24 of the transmitter 5 are obyedinenny the second input unit 23 for determining the minimum distance between points of trajectories of the equipment cranes and block 21 forming the display.

The first outlet 22 of the transmitter 5 is the output of block 21 of the formation zone 22, a second output 30 output unit 29 amps.

Digital computer 11 is identical to the digital computer 5. Inputs/outputs 24 solvers 5 and 11 are connected by line 3 of the serial interface.

In the proposed system, the blocks are made as follows.

The first group 4 (10) sensors, control equipment parameters of the crane has a primary converters of physical parameters (force, pressure, angular and linear displacements, etc. into an electric signal (analog, discrete, digital). The number of sensors depends on the hardware configuration of the crane.

The second group 7 (13) of the sensor contains the primary transducers for controlling the position of the controls of the crane. The number and type depend on the composition of the management and control requirements:

- to control the initiation of movement they can be discrete;

for the control set speed - proportional output signal.

Digital computers 5 and 11 represent a PIC processors with a standard set of elements, including the ADC, multiplexer, RAM, EPROM, parallel and serial ports, etc. It is equipped with amplifiers for connecting actuators.

Displays 6 and 12 are standard the abortion practices of blocks for the alphanumeric and graphic information display.

Keyboard 8 and 14 represent a set of keys or switches, enables the user to select and set mode of the device control and protection of the crane.

Blocks 18-21, 23, 25-28 are software functional devices formed in a digital computer 5 (or respectively in a digital computer 11) software.

The system works as follows.

During the initial installation of the system is its setting on the crane (first of all the sensors and nodes of their installation) with the purpose of its bindings to the site.

Further, during operation, each of the devices 1 and 2 control and protection of the crane are similar to each other. In the device 1, the sensor signals the control parameters of the first valve K1come to the first input 16 digital computer 5, where the block 18 is determined by the position of the equipment of the first crane and the load on it to determine the inertia of motion. The change of position of equipment, fixed block 18, is converted by the block 19 determine the speed of the equipment in the magnitude and direction of motion, which then block 20 is converted to a motion path.

Unit 21 generates a signal for indicating movement of the crane K1running the device 1. He signals generated in the device 2 is transferred along the line 3 through the input/output 24, generates signals for indicating movement of the second allied crane To2installed device 2. Signals unit 21 via the first output 22 digital transmitter 5 is transmitted to the display 6.

The information on the devices 1 and 2 is shown in the form of projections arrows (figa and figv)if the stationary cranes. When the movement of allied crane To2the range of possible positions of its equipment is depicted, for example, in the device 1 in the form of a zone (fehb), and the estimated movement of the "native" faucet K1running specific display 6, indicated by the directions. The image areas occurs on a signal from the sensors 7, input by the second input 17 on block 21.

The crane operator through the keyboard 8 through the third input 26 digital transmitter 5 generates the block 27 setting the bounding lines of admissible displacements equipment, locking them in blocks 20, 21 and the display 6. Prior to the installation of the bounding lines of the block 27 acts on the block 25 matches and prohibits the passage of signals from the sensors 7, initiating movement of equipment the following circuit: line 28 delay (serves to provide timing information on the display), the unit 29 of the amplifier, the second output 30 of the transmitter 5, the Executive unit 9.

This mode corresponds to a preliminary indication of the acceptance by the crane operator decisions about the trajectory of the moving equipment of the crane. After installation, fault lines, block 27 removes the ban from the block 25 matches for passing signals of the sensors 7, which through the block 29 amps affect the Executive unit 9. Equipment crane will begin to move until the coincidence signal block 20 calculate the trajectory and block 27 job bounding lines, resulting in a block 25 will generate a signal to stop the movement.

During the movement of the crane equipment on unit 23 receives information about the movement of equipment each valve ("own" from block 20 and adjacent the entrance/exit 24). Unit 23 calculates the minimum distance between points of trajectories of the equipment cranes and invalid when the convergence of hardware, such as when the wrong job bounding lines, will create a signal in the block 25 to shut off mechanisms "own" crane K1. The same effect will take place and the device 2 to shut off mechanisms allied crane To2.

The proposed control system and protection against collisions working in the group of tower cranes can be manufactured industrially by the instrument-making enterprise with the use of modern electronic components and technology.

1. The method of control and protection from collisions working in the group of tower cranes, including exchange of the information between the control devices and protection mounted on each of the "n" working in a group of tower cranes, position, motion and load his equipment, characterized in that it further determine the position of each valve and its equipment on the site plan, form on the display of the crane conditional graphical representation of the position of the crane and its equipment on the site plan and conditional graphical image of the provisions of the "related"or "related" cranes, and his or their equipment, when initiated by the operator moving equipment crane Toidetermine the trajectory of the movement of this equipment and crane form on the display of the graphical image of the assumed trajectories of equipment crane Toiand "contiguous" or "adjacent" cranes moving at the moment the equipment through the exchange of information between their devices, control and protection, determine the minimum distance between these trajectories crossing trajectories display on the display tap Toithe point of intersection to form a signal lock mechanisms of the crane, as well as signals for alarm light and audible alarm, to continue the movement of the equipment of the crane Toithe commands of the operator optionally form a line, limiting the movement of equipment manogaran, and display it on the display of the crane Kiand when there are errors during the formation of the boundary lines automatically block the mechanisms of the crane Kiat the point of intersection of these trajectories.

2. The method according to claim 1, characterized in that when forming the boundary lines take into account the inertia of the floating equipment.

3. System control and protection from collisions working in the group of tower cranes, which contains the set on each faucet device control and protection of the crane, including the first group of sensors, control equipment parameters of the crane and the digital computer, to the first input of which is connected to these sensors, the first output display, and the second output - actuating unit, while digital computers are connected by a serial line interface for exchanging information about position, movement and loading of equipment cranes, characterized in that each device of the control and protection of the crane is equipped with a second group of sensors installed on the controls movement mechanisms and connected to the second input of the digital computer, and the keyboard to set the operating mode of the crane is connected to the third input of the digital computer, and each digital computer configured to determine the position of each crane and E. what about the equipment on the site plan, forming on the display tap the conditional graphical image position of the crane and its equipment on the site plan and conditional graphical image of the provisions of the "related" or "related" cranes, and his or their equipment on the site plan, determine when initiating move equipment crane Kithe intended trajectory of the equipment of this crane and forming on the display of the graphical image of the assumed trajectories of equipment crane Toiand "contiguous" or "adjacent" cranes moving at the moment the equipment, determine the minimum distance between these trajectories, the display of the crane Toithe point of intersection of the trajectories and formation of this signal, the lock mechanisms of the crane and signals for alarm light and audible alarm, the formation of the line, limiting the movement of equipment crane Kiif necessary, continue the movement of his equipment and display this line on the display of this valve, and automatic locking operation of the crane Toiat the point of intersection of these trajectories in the presence of errors in the formation of the bounding lines.

4. The system according to claim 3, characterized in that the digital transmitter of each device control and protection of the Kyrgyz Republic is to include the block definition load and position of the equipment of the crane, unit of measure speed equipment of the crane, the unit detect the trajectory of the equipment of the crane, the unit for determining the minimum distance between points of trajectories of the equipment cranes, the block matches the block forming the display unit job of the bounding lines, the delay line block amplifiers, and the output of the block definition load and position of the equipment of the crane is connected through serially connected block determination of the speed of the equipment of the crane and the block definition of the motion path to the first inputs of the processing unit indication unit determining the minimum distance between points of trajectories of the equipment cranes and block matching, the output of block job bounding lines connected to the second inputs of the block definition the trajectory of the equipment of the crane and the block matching, a third input which is connected to the output of the block defining the minimum distance between points of trajectories of the equipment cranes, and out - through the delay line to the input of the amplifier, the first input of the digital computer is the entrance to the block definition load and position equipment crane, a second input, a United third input of the block forming zone and the fourth input of the coincidence, and the third input - input unit configured, and then the bounding lines, input/output digital computer are combined second input unit for determining the minimum distance between points of trajectories of the equipment cranes and block the formation of the display panel, and first and second outputs of the digital computer are respectively the outputs of the processing unit and display unit amplifiers.



 

Same patents:

FIELD: mechanical engineering.

SUBSTANCE: invention relates to load-lifting and transportation equipment and it can be used in protection systems of load-lifting cranes. According to proposed method, tolerable loads are determined and memorized in form of function of spatial position of boom, measuring current value of load in process of operation of crane, comparing it with tolerable load and generating warning signal or signal to crane mechanisms aimed at limiting or preventing overload. In process of lifting and/or shifting of load, change of linear or angular position of crane part is revealed additionally whose change is not allowed in current stage of load lifting and/or shifting process. Depending on value of said change of position, additionally warning information signals or crane mechanism control signals are formed aimed either to prevent further increase in said change or to return said part of crane, for instance, boom, into initial position. Protection of crane from overload is implemented with due account both of absolute value and change of value of angle of tilting of crane component part from horizontal or vertical position in process of lifting and/or shifting of load.

EFFECT: improved safety of crane in operation.

21 cl, 1 dwg

FIELD: mechanical engineering; lifting and transportation machinery.

SUBSTANCE: invention can be used in automated protection and control systems of load-lifting cranes. Load-lifting machines drive is controlled by operator acting onto control member, transmission of shifting of said member to control member of drive made to shift any mechanism of load-lifting machine depending on movement of control member, and preliminary determination of tolerable value of at least one parameter characterizing load and/or spatial position of boom or load-gripping member of load-lifting machine, keeping the parameter value in memory, measuring said parameter by direct or indirect method in process of operating of load-lifting machine, comparing measured value with tolerable value and subsequently shaping drive control signal. Control signal is used to interlock shifting of drive control member and if, necessary, to reset member in neutral position. Interlocking of drive control member is done by mechanical blocking of transmission of control member shifting to drive control member or mechanical interlocking of displacement of said member.

EFFECT: increased reliability.

6 cl, 3 dwg

FIELD: mechanical engineering; tower cranes.

SUBSTANCE: method includes periodical continuous polling during which signals are obtained, recorded and memorized which correspond to values of load characteristic of crane, crane geometry and operation conditions, obtained signals are compared with values of characteristics introduced into crane control system before its operation, and after comparing of signals received at polling with tolerable values of characteristics, if they exceed tolerable characteristics, commands of crane operator are cancelled. Introduced additionally into crane control system are parameters of crane operation conditions, speed of wind, ambient temperature and crane condition parameters, load, vibration, temperature of crane drive mechanism lubricants, and voltage in electrical devices. Maximum tolerable values of said parameters are introduced into control system to limit operation of crane drives at which operation of crane should be stopped or can be executed at introduction of definite limitations into operation of crane drive as to speed, accelerations, combined or successive travel motions of drives, obtained signals concerning operation and state of crane are compared with tolerable values, and possibility and conditions of execution of operator's commands are determined, command is left without changes or definite limitations are applied to operation of crane by introducing corresponding corrections to operator's command or execution of command is prohibited according to preset program.

EFFECT: improved safety of operation of tower crane.

1 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

FIELD: lifting and transportation mechanical engineering, namely system for ensuring safety of operation of lifting equipment; possible use for preventing dangerous approach of jib type cranes with telescopic crane arms to power lines.

SUBSTANCE: device for detection of electric field of power line contains an antenna and antenna amplifier, where at least a part of antenna is made in form of flat capacitor mounted on rotary device of crane, and current-conductive plates of flat capacitor are connected to input of antenna amplifier. Positioning of antenna in form of flat capacitor not on the head of crane arm, but on rotary device, ensures safety of crane operation during installation of fly jib, and also results in increased comfort of operation, particularly, low length of communication line and exclusion of drum for winding cable, removing causes for cable tearing under conditions of real applications.

EFFECT: increased efficiency.

2 cl, 4 dwg

FIELD: hoisting and transportation machinery, particularly to control and protect hoisting machines against overload.

SUBSTANCE: system comprises the first control means group installed on support structure or on equipment parts not to be separated from structure. The first control means group includes digital data processing unit 2 having output connected to executive and signaling device 4, 5 units, the first data input-output unit 3 linked to digital data processing unit with two-directional data exchange channel, crane 6 parameter sensors and power supply unit 1. Power supply unit 1 has one clamp connected to load-lifting machine body and another clamp secured to power supply system bus. The second control means group is supported by movable structure or equipment to be demounted and includes crane parameter sensors 10. The first and the second control means groups are linked one to another through two-directional radioline. The first control means group is provided with the first receiving/transmitting radio station, independent power source 15 and switchboard 16.

EFFECT: increased safety system reliability, simplified assemblage and installation thereof on load-lifting machine.

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; materials handling facilities.

SUBSTANCE: invention can be used in load-lifting crane control and protection system. Proposed protection system of load-lifting crane contains digital calculator 1, external memory 2, actuator unit 3 and crane parameter pickups 12 - 14. Digital calculator contains boom reach calculating unit 5, unit 6 to calculate load on load-lifting member, torque metering unit 7, three comparators 8, 9 and 10 and OR gate 11. Outputs of crane parameters pickups are connected to first input of digital calculator, and external memory is connected to second input. Corresponding input of actuator unit are connected to first and second outputs. Invention provides safe and effective operation of crane at small reaches owing to disconnection at overloads the motion which might lead to rise of load. Moreover, requirements to accuracy of calculation of load on hook at operation in zone of large reaches are reduced.

EFFECT: simplified production and reduced cost of operation and maintenance of protection system.

2 dwg

FIELD: mechanical engineering: materials handling facilities.

SUBSTANCE: invention can be used in control and safety systems of boom-type load-lifting cranes. Proposed system contains main controller to outputs of which input of emergency signaling module, first control input of travel motion interlock module, dangerous voltage protection unit and maximum height pickup of load grip whose output is connected to information input of main controller. System contains boom head controller and pickup of load grip lowering mechanism, and travel motion interlock module is provided with second and third control inputs. Boom head controller is connected by two-way communication line with dangerous voltage protection unit and is connected with main controller by two-way or wireless data exchange channel. Connected to second and third control inputs of travel motion interlock module are, respectively, maximum height pickup of load grip and pickup of load grip lowering mechanism.

EFFECT: improved safety under abnormal conditions owing to preservation of function of limiting of hook maximum lifting height at interlocking of functional of disconnection of crane travel motion by main controller.

8 cl, 4 dwg

FIELD: mechanical engineering; load-lifting and transporting facilities.

SUBSTANCE: according to proposed method, drives of mechanisms providing operation of crane equipment are started and cut off by action onto crane controls. In proposed method, use is made of wire rope angular position sensor. Hook holder is suspended from said wire ropes. Signal from said sensor is compared with tolerable value. To control tension of load wire ropes, load is measured and change in wire rope tension is calculated which is compared with signal of tolerable level of change. At no change of wire rope tension before starting load lifting or when load is lifted from ground, possibility of lifting mode is provided, and at change of tension of wire ropes. Load lifting from ground and angular displacement of boom in vertical plane for constant holding of wire ropes in vertical position are provided. Direction of boom shifting is determined by direction of angular deflection of wire ropes detected by three-position comparator, and at displacement of boom lowering or weakening of wire rope tension is provided. If crane operates with girder boom, travel of trolley is checked for maintaining wire ropes in vertical position.

EFFECT: improved reliability.

4 cl, 1 dwg

FIELD: mechanical engineering.

SUBSTANCE: invention relates to load-lifting and transportation equipment and it can be used in protection systems of load-lifting cranes. According to proposed method, tolerable loads are determined and memorized in form of function of spatial position of boom, measuring current value of load in process of operation of crane, comparing it with tolerable load and generating warning signal or signal to crane mechanisms aimed at limiting or preventing overload. In process of lifting and/or shifting of load, change of linear or angular position of crane part is revealed additionally whose change is not allowed in current stage of load lifting and/or shifting process. Depending on value of said change of position, additionally warning information signals or crane mechanism control signals are formed aimed either to prevent further increase in said change or to return said part of crane, for instance, boom, into initial position. Protection of crane from overload is implemented with due account both of absolute value and change of value of angle of tilting of crane component part from horizontal or vertical position in process of lifting and/or shifting of load.

EFFECT: improved safety of crane in operation.

21 cl, 1 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

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; 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: 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 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: 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: technological processes.

SUBSTANCE: method includes determination of crane equipment position and estimation of weight gripping device load, initiation of crane equipment movements by operator and disconnection of equipment crane drives in case of overload. Before crane equipment position is determined, coordinates of obstacles on the site are memorized. Contours of obstacles are formed in the memory of processor and are represented on the display, and basing on the signals of crane equipment position sensors the coordinates of initial position of weight gripping device are determined, coordinates of final position of weight gripping device are set, then memorized and displayed. When crane operator initiates crane equipment movements, expected trajectory of weight gripping device is defined and displayed. If no contours cross, directions of crane equipment independent movements are determined, every one separately, for delivery of weight gripping device into the final destination point along the shortest route in the shortest time period, and in case of obstacles contours crossing by expected trajectory of weight gripping device movement, the optimal trajectory is determined, memorized and displayed. Movement of weight gripping device is done in loads bouncing suppression modes, overload crane protection and obstacles collision protection modes, under weight gripping device movement speed reduction with further braking and movements block. Device contains processors, "n" crane equipment position sensors, load detector, unit of obstacles coordinates setting and setter of final coordinates of weight gripping device, display, and drive control unit.

EFFECT: reduces dynamic loads and increases safety.

7 cl, 2 dwg

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