Method of increasing safety (versions) and safety system of jib hoisting crane (versions)

FIELD: transport.

SUBSTANCE: invention relates to methods of increasing crane operation safety and crane safety systems. Proposed method comprises presetting tolerable parametres describing crane tolerable load and its memorising. It comprises also defining current said parametres using direct and/or indirect measurements of the crane other parametres. Measured current parametre is compared with tolerable value and generating, on the basis of said comparison, of warning and/or control signals by at least one crane actuator to prevent said parametre from exceeding tolerance. In compliance with first version, current value of parametre describing crane load is determined and represented in the form of function with at least three arguments. Pressure in jib lifting hydraulic cylinder is taken to be first input argument. Jib inclination angle is taken to be second argument, and load on hoisting rope or pressure in rib telescoping hydraulic cylinder is considered to be third argument. In compliance with second version, rib current length is used, measured indirectly proceeding from the results of measuring the other crane operating parametres. In compliance with first version, system comprises jib lifting hydraulic cylinder pressure pickups, jib inclination angle pickup and pickup of rope load or pressure in jib telescoping hydraulic cylinder. Digital computer allows computing current parametres that describes crane load using output signals of at least three said pickups. In compliance with second version, digital computer calculates jib current length using output signals of the other crane operating parametres to allows determining said current parametres describing load or jib, or load handling fixture spatial position with the help of computed value of said length.

EFFECT: higher reliability, simplified design.

16 cl, 2 dwg

 

The invention relates to hoisting and transport machinery and can be used in systems for the protection and management of jib cranes.

There is a method of protection of crane overload by setting the allowable load values for different angular positions of his arrows, control of the current values of these parameters during operation of the crane, comparing the current value of the load are valid for the current boom and generation of warning signals and control signals actuators crane depending on the results of this comparison [1].

The device for its implementation contains a load cell connected to the input of the comparing device, the output of which is connected to the output device.

The disadvantage of this method and the implementing device is the lack of protection of hoisting crane from collisions with obstacles (lack of coordinate protection) when the crane is in cramped conditions.

The closest to the invention is a method of increasing the safety of the boom crane by pre-determining and storing the maximum permissible values of the parameters of the crane, characterizing the load and the spatial position of the boom or lifting org is on, determination in operation, the valve current values of these parameters using the results of direct measurement of the length of the boom, as well as direct or indirect measurement of other parameters of the crane, the subsequent comparison of these current values with the limit values and the formation, depending on the results of these comparisons, warning signals and signal blocking movements of the crane [2, 3].

The security system on the boom crane implementing the known method, contains the sensor length of the boom and other sensors operating parameters of the valve, the actuator and connected to the digital computer made with the possibility of receiving and processing the output signals from the sensors and determine the current values of parameters characterizing the load and the spatial position of the boom or lifting of the body of the faucet, comparing the current values with the limit values, as well as the possibility of the formation of the warning signals and control signals actuating device of the valve depending on the results of these comparisons [2, 3].

In the known technical solution is provided as the protection of crane overload and crash protection of his arrows or hauling with different obstacles (coordinate protection).

Such embodiment of the sensor of the length of the boom leads to low reliability of safety systems due to the complexity of the structural design of this sensor and the possibility of damage to the flexible body when the crane, in particular the branches of the trees.

The technical result, which sent a group of inventions is to increase reliability and simplify the design of the security system by implementing overload protection and/or coordinate the protection of the boom hoisting crane with Telescopium arrow without using a sensor length of the boom. Another technical result is improved performance security by providing opportunities for its functioning upon contact of the boom crane with tree branches and other objects, which in a known technical solution lead to damage to the flexible body or its network with the cable drum.

In the first variant is NTE the proposed method improve the safety of the boom crane pre-determine or specify valid values for the parameter, characterizing the load of the crane, his memory, determining in the process, tap the current value of this parameter by calculation using the results of the direct and/or indirect measurement of other parameters of the crane, compare its current value with the permissible and the subsequent formation, depending on the results of this comparison, warning signals and/or control signals or blocking actuator control device of the crane above technical result is achieved due to the fact that when determining the current value of the parameter characterizing the load of the crane, it is presented as a function of the pressure in the lift cylinder boom, boom angle, as well as efforts in the cargo rope or pressure in the hydraulic cylinder teleskopowe arrows. For a parameter that characterizes the load of the crane, take a load moment of the crane, the weight of lifted load, the load sliding supports of the crane or load any element of its boom system, and the function used to calculate the pre-determined with the use of a mathematical model of the crane or by experiment.

Security boom crane that implements this method and contains sensors operating parameters of the crane, Executive mustache is a device and coupled with the digital computer, made with the possibility of receiving and processing the output signals from the sensors and generation of warning signals and control signals actuating device, these technical results are achieved by the fact that the digital transmitter is configured to calculate the current values of the parameter characterizing the load of the crane, using the output signals of the pressure sensor in the hydraulic cylinder of lifting, sensor boom angle, and the force sensor in the cargo rope or pressure in the hydraulic cylinder teleskopowe arrows.

In the second variant of the proposed method improve the safety of crane work by pre-determine or specify the valid values of the parameters characterizing the load and the spatial position of the boom or lifting body, defining in the process of working crane their current values by calculation from the results of direct and/or indirect measurement of other parameters of the crane, then comparing the calculated values with valid and formation, depending on the results of these comparisons, warning signals and/or control signals actuating device of the valve indicated technical result is achieved due to the fact that the calculation is performed with the use of those is the current value of the length of the boom, which measure the indirect method on the basis of the results of measurements of other parameters of the crane.

This indirect measurement of the length of the arrows L carried out by calculations based on the measurement results of the pressure in the lift cylinder boom and the boom angle α in those time intervals during which there is no load on the lifting body, or on the basis of the measurement results of the centrifugal acceleration of the last pull-out section of the boom, the angle α and the angular velocity of the boom ω in those time intervals during which the rotation of arm due to its lifting/lowering or turning the crane platform.

In the latter case, the boom length L is calculated by the formula L=(U - gSinα)ω2, where U is the output signal of the accelerometer, the axis of sensitivity parallel to the axis of the boom; and g is the acceleration of free fall.

To achieve these technical results the angular velocity of the boom ω, due to the lifting or lowering of the boom, can be determined by differentiation of the signal of the sensor boom angle or by using a gyroscopic device, made in the form of girolametto or vibrating gyroscope attached to the crane boom. The angular velocity of the boom ω, due to the rotation of the crane platform, can be determined by d is ferentiable signal of the angle sensor azimuth turntable of the crane, or using a similar gyroscopic device attached to the boom or to the rotary platform of the crane.

Indirect measurement of the length of the arrows L can be carried out also by her calculations, in particular, by the formulas L=ΔR/(Cosαl-Cosα2) or L=ΔR/(ΔαSinα), on the basis of the results of measurement of changes of boom angle (Δα=α1-α2) and the corresponding change of departure ΔR, which is determined by integrating the output signal of the accelerometer, located on the last pull-out sections, in those time intervals during which the change of the boom angle α.

In addition, there can be control of teleskopowe arrows with subsequent correction of the calculation of the length of the boom depending on the speed, acceleration or movement of the last pull-out sections along its axis, which is/that is determined by measuring the speed of the drive teleskopowe arrows or using the accelerometer, attached to this section of the boom.

Security boom crane that implements the second variant of the proposed method, containing sensors operating parameters of the valve, the actuator and connected to the digital computer made with the possibility of receiving and processing the output signals of the sensors and the determining the current values, at least one parameter characterizing the load or the spatial position of the boom or lifting body, comparing the current values with the limit values, as well as the possibility of the formation of the warning signals and/or transmission to the actuator control signals or blocking movements of the crane, depending on the results of this comparison indicated technical result is achieved by the fact that the digital transmitter is configured to calculate the current value of the length of the boom using the output signals of the sensors of other operating parameters of the crane and with the possibility of determining the specified current value of the parameter characterizing the load or the spatial position of the boom or lifting of the body of the faucet, using the calculated current value of the length of the boom.

The composition of said sensors operating parameters of the crane, in General, may include pressure sensors in the lift cylinder boom, boom angle, accelerometer, mounted on the last pull-out sections, gyrotools or vibratory gyroscope attached to the boom or to the rotary platform of the crane, and the sensor azimuth angle, speed teleskopowe arrows or drive teleskopowe.

To achieve the Oia these technical results of the digital computer security can also be configured to calculate the length of the boom using recorded on the storage device functional according to this length from the centrifugal acceleration of the last pull-out sections, as measured by the attached acceleration sensor and the angular velocity of the boom, measured by girolametto or vibration gyro, or by differentiation of the output signal of the sensor azimuth angle.

The security system on the boom crane with these distinctive features protects the valve against overloading and collisions with various obstacles when working in cramped conditions (coordinate protection) without the use of a sensor length of the boom. This prevents the disadvantages inherent in the known technical solutions. Accordingly, these distinctive signs are in direct causal connection with the achievement of the technical result of the present invention.

Figure 1 as an example of one possible functional diagrams security hoisting crane. Figure 2 - drawing of the crane's boom explaining a method of indirect measurement of its length.

The system includes a digital computer 1, also referred to as an electronic module, a controller, a display unit, a data processing unit and the like, and sensors settings crane 2 (figure 1).

Digital computer 1 is made on the basis of the microcontroller 3, to the which connected the controls transmitter (button, keys) 4, indicators (led, character LCD, acoustic, etc.) 5, non-volatile memory device (chip Flash memory) 6 and the device input/output information 7.

In the case of use of the system 2 sensors with analog output device input/output information 7 includes an analog-to-digital Converter, and the application of digital sensors transceiver or controller multiplex communication channel, in particular the serial interface type CAN (Control Area Network) or LIN (Local Interconnection Network). You can also connect sensors 2 using device input/output information 7 wireless interface (ZigBee, Bluetooth, Wi-Fi etc).

Output device 8 is made, in particular, in the form of a power electronic unit with discrete, proportional or pulse width of the output signals. The input or bidirectional inputs/outputs connected to the device input/output information 7 using separate wires or multiplex channel of communication. Output device 8 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, the individual sensors 2, including limit switches and sensors analog inputs can be connected directly the output device 8.

Output device 8 may include electromagnetic contactors or solenoid valves incorporated in a hydraulic or electric control system of the crane.

The sensor 2 includes, in particular, the pressure sensor in the hydraulic cylinder of lifting boom 10, the sensor boom angle 11, the accelerometer 12 installed on the last pull-out sections, and the gyroscope 13 mounted on this partitions or on the rotary platform of the crane.

The system may also contain various additional sensors 14, which includes the sensor azimuth angle, the pressure sensor in the hydraulic cylinder of the drive teleskopowe arrows or the speed sensor of the actuator, limit switch hoist lifting body (limit switch), the force sensor in the cargo or strelba the rope, proximity sensor for transmission lines, sensors, movement controls crane, wind speed sensor, etc. Separate sensors, shown in figure 1, may be missing. A specific set of sensors depends on the design of hoisting crane and options for the implementation of the security system.

Control (start, stop, and/or speed control) actuators actuators crane 15 is carried out using the controls a crane 16 acting on the actuators actuators is wound 15 directly (manual control) or via the digital computer 1 (automated control).

The security system works as follows.

Before operation of the crane the crane operator (operator) using controls 4 digital computer 1 enters in 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 nonvolatile memory 6 or the memory (EEPROM) of the microcontroller 3.

Area valid values position the boom system of the crane is entered by the operator when setting the coordinate security controls 4 and is also stored in the microprocessor memory 3 or the storage device 6. This memory stores the maximum permissible values of the parameters characterizing the load of the crane and presents, for example, in the form of its cargo characteristics.

Initiation control actuators 15 of the crane is carried out by moving the crane controls (knobs, levers, etc.) 16, for example an electric joysticks in their respective areas. The signal levels of the drive control 15 or determined by the microcontroller 3, or formed by limitations of control actions OPE is atora control valve 16.

The microcontroller 3 operates according to the program 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 of the crane. On the basis of these values, the microcontroller 3 defines the spatial position of the mechanisms and the load of the crane. To determine the current values of parameters characterizing the load of the crane and/or the current provisions of the it boom or lifting of the body, in the General case we use a mathematical model of the crane is stored in the microprocessor memory 3 or the storage device 6.

Next, the microcontroller 2 compares the current values of the parameters characterizing the load and the spatial position of the boom or lifting of the body of the faucet, with valid values of these parameters and forms, depending on the results of this comparison, warning signals to the operator input to the LEDs 5 and the control signals or block drive control actuators of the valve 15 to prevent exceeding the allowable values for these parameters. Thanks to this protection of crane overload and from collisions with obstacles (coordinate protection).

When calculating the current value of the parameter characterizing the load of the crane (load moment, the weight of the lifted load, the load sliding supports of the crane or load any element of its boom system), this option in the first embodiment of the security system are represented as functions of pressure in the lift cylinder boom and boom angle. Because its value depends on the position of the center of gravity of the boom with load, to improve the accuracy of the determination of this parameter as the third argument to this function uses the force in the cargo rope or the pressure in the hydraulic cylinder teleskopowe arrows, measured by the respective sensor 14. This function is determined by calculation or by experiment and pre-recorded in the storage device 6.

In the second variant of implementation of the proposed method for determining the current values of the parameters characterizing the load of the crane and the spatial position of the boom or lifting body, the microcontroller 3 uses the information about the length Telescopium arrows. Because the gauge length of the arrows in the security system is not used, this length is calculated by the microcontroller 3 on the basis of the output signals of the sensors of other operating parameters of the crane 2.

This can be used in owano the fact, what if there is no load on the lifting body, for example when the cart hauling the cargo from the transport position or after discharge, and a fixed angle of inclination of the boom and the pressure in the lift cylinder boom is uniquely determined by the length of the boom. The functional dependence of the length of the boom from the angle of its inclination and pressure in the lift cylinder boom also pre-determined, for example, by calculation using a mathematical model of the crane and is recorded in the storage device 6.

Another option for calculating the length of the arrows is based on the measurement of the centrifugal acceleration of the last pull-out section of the boom is installed on it the accelerometer (figure 2).

If telescoperule arrows missing, when lifting/lowering the boom or when turning the crane platform accelerometer moves along the arc of a circle with center at point O. Centrifugal acceleration measured by the accelerometer 12, the axis of sensitivity of X is directed along the arrows (figure 2), is determined by the formula al=ω2L, where L is the arm length (radius of rotation), and ω is the angular velocity of rotation of the boom (the angular velocity of the lifting/lowering boom ω or platform rotation ω').

On the accelerometer 2 axis X is also a static component of the acceleration of free fall is s g: A2=gSinα.

Since the accelerometer output signal U is determined by the sum of the accelerations al+A2, the boom length L, the microcontroller 3 calculates according to the formula L=(U-gSinα)/ω2.

Angular velocities of the boom ω or ω' is measured by differentiating the output signal of the sensor boom angle α or the angle sensor azimuth, or by using a gyroscope 13, mounted on the boom or on the rotary platform of the crane and made in the form of girolametto or vibrating gyroscope, the principle of which is based on measuring Coriolis forces.

If this is telescoperule arrows, the calculation microcontroller 3 the length of the boom from the formula additionally introduced the amendment, depending on the speed, acceleration or linear movement of the last pull-out sections along its spine. This correction is calculated by the microcontroller 3 using the output signal of the speed sensor drive teleskopowe arrows or additional accelerometer.

The boom length can be calculated by the microcontroller 3 is also in the process of raising/lowering by monitoring changes of departure ΔR and corresponding changes of boom angle (Δα=α1-α2) by the formula L=ΔR/(Cosα1-Cosα2). Under the small amount Δα can be used a simplified formula L=/(ΔαSinα).

Change of departure ΔR may b shall be determined by converting and integrating the signal of the accelerometer 12. In this case we use a two-axis X, Y accelerometer 12 (2), and integration with the aim of determining the value of ΔR carried out by the microcontroller 3, is subjected to the horizontal component of acceleration with the exclusion of centrifugal acceleration ω2L.

To document the work of the crane system may contain built-in or external Registrar settings implemented on the basis of the storage device 6, in which the microcontroller 3 writes the values of the operating parameters of the crane (load, the spatial position of the boom and so on), warning signals and control signals by a crane with a view to their subsequent reading for analysis on a computer for evaluating the efficiency of the crane, control of observance of the established rules for its use and to investigate possible causes of failures and accidents.

In this specification, schematically shown only partial implementations of the proposed system security load-lifting crane. The invention encompasses other possible variants and equivalents without departure from the invention set forth in the formula.

Sources of information

1. SU 1654256 A1, B66C 23/90, 07.06.1991.

2. US 5730305 A, B66C 13/16, 13/18, 24.03.1998.

3. EN 2282577 C2, B66C 23/88, 15/00, 27.08.2006.

1. The way to improve safety on the boom crane by prevar the positive definition or specify a valid parameter values, characterizing the load of the crane, his memory, determining in the process, tap the current value of this parameter by calculation using the results of direct and/or indirect measurement of other parameters of the crane, then comparing the current value with a valid and formation depending on the results of this comparison warning signals and/or control signals or blocking control at least one actuating device of the valve, designed to prevent exceeding this parameter, valid values, characterized in that when determining the current value of the parameter characterizing the load of the crane, it is represented as a function, at least three arguments, with the first input argument to take the pressure in the lift cylinder boom, the second argument to accept the boom angle, and as the third argument to use force in the cargo rope or the pressure in the hydraulic cylinder teleskopowe arrows.

2. The method according to claim 1, characterized in that the parameter characterizing the load of the crane, take a load moment of the crane, or the weight of lifted load, or the load of the sliding supports of the crane or load any element of its boom system, and the function used to calculate prewar the tion is determined with the use of a mathematical model of the crane or by experiment.

3. The security system on the boom crane, containing sensors operating parameters of the valve, the actuator and connected to the digital computer made with the possibility of receiving and processing the output signals from the sensors and determine the current values of the at least one parameter characterizing the load of the crane, comparing the current values with the limit values previously stored in its storage device, as well as the possibility of the formation of the warning signals and/or transmission to the actuator control signals or blocking movements of the crane is designed to prevent exceeding this parameter to its maximum allowable value, characterized in that the sensors operating parameters of the crane includes a pressure sensor in the hydraulic cylinder of lifting, sensor boom angle, and the force sensor in the cargo rope or pressure in the hydraulic cylinder teleskopowe arrows, and a digital calculator configured to calculate the current values of the parameter characterizing the load of the crane, using the output signals of at least three of these sensors.

4. The way to improve the safety of the boom crane by pre-defining or establishing dopustimogo the values at least one parameter characterizing the load or the spatial position of the boom or lifting of the body of the faucet, his memory, determining in the process, tap the current value of this parameter by calculation using the results of direct and/or indirect measurement of other parameters of the crane, then comparing the current value with a valid and formation depending on the results of this comparison warning signals and/or control signals or blocking control at least one actuating device of the valve, designed to prevent exceeding this setting its valid values, characterized in that the calculation is performed with using the current value of the length of the boom, which measure the indirect method on the basis of the results of measurements of other parameters of the crane.

5. The method according to claim 4, characterized in that it further identify the time interval during which there is no load on the lifting body, and at this point in time provide an indirect measurement of the length of the boom by calculations based on the measurement results of the pressure in the lift cylinder boom and boom angle.

6. The method according to claim 4, characterized in that it further revealed in eral time within which the tilting or rotation of the boom, and at this point in time provide indirect measurement of the length L of the boom by calculations based on the measurement results of the centrifugal acceleration of the last pull-out section of the boom, the angle α and the angular velocity ω of the boom.

7. The method according to claim 6, characterized in that the length L of the arrow is calculated by the formula L=(U-gSinα)/ω2,
where U is the output signal of the accelerometer, the axis of sensitivity parallel to the axis of the boom; g - acceleration of free fall.

8. The method according to claim 6, characterized in that the angular velocity ω of the boom caused by lifting or lowering the boom, is determined by differentiation of the sensor signal of the tilt angle α of the boom or by using a gyroscopic device, adapted to determine the angular velocity and in the form of girolametto or vibrating gyroscope attached to the boom.

9. The method according to claim 6, characterized in that the angular velocity ω of the boom caused by the rotation of the crane platform, is determined by differentiating the signal of the angle sensor azimuth turntable of the crane or by using a gyroscopic device, adapted to determine the angular velocity and in the form of girolametto or vibrating gyroscope attached to the boom or to stand the company the platform of the crane.

10. The method according to claim 6, characterized in that additionally control teleskopowe arrows and, if it is calculating the length of a boom carried out taking into account velocity, or acceleration, or move the last pull-out sections along its axis, which is/that is determined by measuring the speed of the drive teleskopowe arrows or by an accelerometer mounted on this section of the boom.

11. The method according to claim 4, characterized in that it further identify the time interval during which the change of the tilt angle α of the boom, and at this point in time, carry out the calculation of the length of the boom on the basis of the results of measuring the change of angle (Δα=α1-α2) and the corresponding change of departure ΔR, which is determined by integrating the output signal of the accelerometer, located on the last pull-out sections.

12. The method according to claim 11, characterized in that the length L of the arrow is calculated by the formula: L=ΔR/(Cosα1-Cosα2), or by the formula: L=ΔR/(ΔαSinα).

13. The method according to claim 11, characterized in that additionally control teleskopowe arrows and, if it is calculating the length of the arrows is performed with the movement of the last pull-out section of the boom along its axis, which is determined by measuring the speed of the drive teleskopowe arrows or what exploits accelerometer, mounted on this section of the boom.

14. The security system on the boom crane, containing sensors operating parameters of the valve, the actuator and connected to the digital computer made with the possibility of receiving and processing the output signals from the sensors and determine the current values of the at least one parameter characterizing the load or the spatial position of the boom or lifting body, comparing the current values with the limit values previously stored in its storage device, as well as the possibility of the formation of the warning signals and/or transmission to the actuator control signals or blocking movements of the crane is designed to prevent exceeding this parameter to its maximum allowable value, wherein the digital computer is configured to calculate the current value of the length of the boom using the output signals of the sensors of other operating parameters of the crane and with the possibility of determining the specified current value of the parameter characterizing the load or the spatial position of the boom or lifting of the body of the faucet using the calculated values of this length.

15. Security system 14, characterized in that Thu is part of the sensor parameters of the crane includes a pressure sensor in the hydraulic cylinder of lifting, and/or the sensor boom angle, and/or an accelerometer mounted on the last pull-out sections, and/or a gyro sensor, made in the form of girolametto or vibrating gyroscope determine the angular velocity and attached to the boom or to the rotary platform of the crane, and/or the sensor azimuth angle and/or speed sensor, teleskopowe arrows or the speed of the drive teleskopowe.

16. Security system 14 or 15, characterized in that the digital transmitter is configured to calculate the length of the boom using recorded on the storage device, the functional dependence of this length from the centrifugal acceleration of the last pull-out sections, as measured by the attached acceleration sensor and the angular velocity of the boom, measured by girolametto or vibration gyro, or by differentiation of the output signal of the angle sensor azimuth or sensor boom angle.



 

Same patents:

FIELD: machine building.

SUBSTANCE: invention relates to pick-and-place machine building, particularly to method of adjustment of safety device of climbing cranes of jib type with equal crane equipment. Method includes mounting of adjusted device on outfitted crane, connection to it load transducer and attitude position transducers of jib type equipment and adjustment of signals in measurement of load channels, outreach and/or angle of slope of jib from condition of providing of correspondence of run-down characteristic of device to specified cargo properties of crane. Method includes copying from nonvolatile memory of safety standard instrument, adjusted in advance on single-type, standard crane with usage of tare cargoes of specified weight, into nonvolatile memory of adjusted device information about measured values of load, boom and/or angle of slope of jib in points of cargo property of crane with known parametres of boom equipment. Copying is implemented before and after mounting of adjusted device on new outfitted crane or on crane, which is in operation after its relocation with removing of transducers and its following installation during crane mounting. After mounting of adjusted of transducers on outfitted crane and connection to its of transducers it is installed boom of outfitted crane into one of positions in the limits of working range angles of slope and azimuth, there are measured parametres of its boom equipment in particular position of boom and there are adjusted signals in channels of load measurement, boom and/or angle of slope of jib by means of addition of pickup signals of adjusted device with signals, corresponding difference of values of pickup signals on measured boom of outfitted crane and equal to it boom of standard crane.

EFFECT: achieved decreasing of labour-intensiveness of safety device adjustment.

2 cl

FIELD: construction industry.

SUBSTANCE: invention refers to safety and control systems of travelling hoisting cranes and cranes with movable equipment. Safety system includes digital unit, to data inputs of which there connected are crane parametre sensors containing at least one movement sensor, actuating unit connected to outputs of digital unit, and at least one indicator. The latter is connected to digital unit and made with possibility of generating signals depending on its current spatial position relative to control position, and digital unit is meant for correction of movement sensor readings as to signals supplied from indicator by using coordinates of control position, which are recorded in digital unit. In addition, safety system is equipped at least with one device installed in control position in working area of movement of crane and/or crane equipment and made in the form of active or passive transponder, or metal flag, or rack, or another metal device so that it interacts with indicator.

EFFECT: simplifying maintenance of crane with safety system, as well as enlarging application area of safety system due to control of positions not only of crane mechanisms, but also crane itself.

2 cl, 1 dwg

FIELD: transport.

SUBSTANCE: proposed system comprises digital computer with memory, hoisting machine parametre pickups connected to digital computer data inputs and incorporating at least one pickup of load and/or hoisting machine components spatial position, and/or machine drive speed. It comprises also device to measure supply voltage parametres connected to digital computer and actuator unit coupled with hoisting machine control system and digital computer. Digital computer can compare measured parametres of supply voltage with tolerable values stored in memory and generate inhibit instructions in case supply voltage parametres fall beyond tolerances. Digital computer and actuator unit generate signal to cut off separate drives of hoisting machine in case supply voltage parametres fall beyond tolerances for machine drives and control system.

EFFECT: higher safety, efficiency and reliability.

9 cl, 1 dwg

FIELD: transport.

SUBSTANCE: invention relates to lifting-and-conveying equipment, particularly to devices intended for controlling load rope tensioning. Device to measure load rope tension comprises base accommodating force pickup and lever. Lever support incorporates rolling bearing and is pivoted to aforesaid base via axle. Lever arm is articulated with load rope with the help of taper bush and interacts with force pickup. Lever arm has a stop for its face surface to come in contact with load rope. Stop face surface features bent shape with constant curvature radius equal to distance from the dace to lever support axle.

EFFECT: higher accuracy of tension measurement, faultless operation of lifting mechanism.

2 cl, 1 dwg

FIELD: mechanics.

SUBSTANCE: invention relates to machine engineering, namely to safety devices intended for keeping rail-tracked vehicles from turning. Roll stability control unit system in rail-tracked vehicle contains remote-mount lever fixed to the frame, moving element installed so that it can be displaced along the way of crane movement. The remote-mount level is provided with holes where guides are installed so that they can move. The said guides are rigidly fixed to the extension of slip hook axis and self-clamping lever. The spring is available between guides and rests upon the above-mentioned remote-mount lever and slip clip extension axis by its ends. The moving element is rigidly fixed to the extension of slip clip axis, while the lower levers of slip clip are implemented as polygonal line at an angle α between them. The sponges' surfaces having notches are rigidly fixed to the ends of slip clip low levers and parallel to the upper arms of the rail.

EFFECT: improved reliability in preventing rail-tracked vehicle turning and simplified design.

2 dwg

FIELD: transportation.

SUBSTANCE: weight-gripping accessory with limiter of weight-bearing capacity comprises link designed for suspension of weight-lifting facility onto weight-gripping element, and limiter of weight-bearing capacity is arranged in the form of body with units for suspension of slings and calibrated elastic element installed in body. Limiter includes hollow stem installed in body with head and threaded tail, on which adjusting nut is screwed, which contact with end of elastic element and having gap relative to lower end of body, between upper end of which and lower cut of stem head with the possibility of free rotation, driving element is put on stem, upper cut of which creates claw clutch with lower cut of stem head. In stem opening in the field of its head annular belt with thread is arranged, besides accessory is equipped with guidescrew, the end of which is fixed to link and screwed into threaded opening of stem, besides at free end of guidescrew, stop is installed, which has a possibility of contact with end of annular belt of stem.

EFFECT: provides for automatic limitation of lifting force.

2 dwg

FIELD: transport.

SUBSTANCE: proposed control system contains the onboard microprocessor control unit with actuators connected thereto, crane operating parameters pickups and controls. The proposed system incorporates means identifying lifted and moved cargo representing a reader of bar codes applied on the cargo, or a radiolabel attached to the cargo, to allow locking the cargo, exceeding the crane lifting capacity, lift and move. The system can contain cargo position pickups to automatically guide the tool to be clamped to the cargo. In compliance with the second version, manual input of the identifier or cargo parameters into this system, and, if required, the coordinates of a final point cargo transfer cargo. Note here that the system incorporates appropriate means preventing the crane overload and optimising cargo transfer trajectories. In compliance with the third version of the control system, the said system can block releasing the cargo from the clamping tool depending on current value of the crane load, speed of move and/or spatial position. In compliance with the fourth version, the control system is equipped with wire or wireless means of transmitting signals from a person, outside the load-lifting crane, to the onboard microprocessor control unit for them to be converted into warning light and/or sound data signals and/or to signals blocking the crane motion.

EFFECT: increase in safety of crane operation, its efficiency and ease of control.

24 cl, 1 dwg

FIELD: transport.

SUBSTANCE: method envisages preliminary determining or setting of admissible values of parameters characterising loading and/or attitude position of outrigger or crane cargo-handling device, memorising this data, measuring of these parameters during crane operation, comparing of measured values with admissible values, and further forming of control signals or blocking of control by execution units in order to prevent exceeding of admissible values. Prior to commencement of crane work or in process of lifting and movement of cargoes crane-operator additionally performs preliminary visual control of crane operation condition or presence of people along way of crane or cargo movement or automatic control of correctness of slinging (securing) of cargo, or automatic check of correctness of crane installation on outriggers or optical measurement of crane performance parameters or automatic change of coordinate parity parameters using GPS receivers, radio-frequency or inertial determination of position devices located on obstacles, clothing or equipment of people. Results of this check or control ensue implementation of additional control or information signals.

EFFECT: enhancement of safety of crane operation and of crane efficiency.

24 cl, 1 dwg

FIELD: transport.

SUBSTANCE: system contains hydraulic, electrohydraulic and/or electric drives of crane mechanisms, control device for these drives, and fuel supply control device connected to it. In process of crane operation automatic fuel supply change is performed depending on load position and/or speed of cargo relocation. In second version of system fuel supply change is automatically related to approach or touch of crane operator's hand to drive control handle. Drive control is made as control unit containing control handle, handle position sensor, and controller with outputs connected immediately, or via additional output device, to control drives' inputs and to device controlling fuel supply. Level of fuel supply in general case is different for different drives and directions of crane movement. After handles of crane drive control are returned to neutral position or after hands are removed from handles, value of motor angular velocity is preserved within preset interval after which minimum preset velocity of motor blank cycle is automatically established.

EFFECT: decrease of specific fuel consumption, efficiency increase, enhancement of usability of crane control and of safety of its operation.

17 cl, 2 dwg

FIELD: transport.

SUBSTANCE: system contains electronic module made on basis of microcontroller with attached device for information input-output, display device, protection system controls located outside electronic module, and execution unit, and cargo-hoisting machine performance sensors connected with device for information input-output. Protection system controls and electronic module perform changing type of display of machine performance indicators and changes in both parameters and performance mode of work of machine protection system - scheduling sequence of telescopic boom sections extension, permitting/forbidding lifting operations mix, release of blocking of movement of cargo-hoisting machine in respect of overload and , blocking of cushioning of machine carrier, cargo-hoisting mechanism mode of braking, or boom extension change, position of bracing jack, etc. Display device may be located outside electronic module and it is made as graphic display.

EFFECT: safety enhancement.

13 cl, 1 dwg

FIELD: transport.

SUBSTANCE: invention relates to tower cranes with boom. Safety device comprises movable locking element representing a rod translating in carriage and affected by springs in moving towards boom grating. Carriage accommodate appliances to allow pinpointing steel rope breakage and initiating retainer operation that hold movable locking mechanism in normal, retired, position and release it in the case of steel rope breakage to let it enter the boom grating.

EFFECT: automatic carriage interlocking.

8 cl, 5 dwg

FIELD: machine building.

SUBSTANCE: invention relates to pick-and-place machine building, particularly to method of adjustment of safety device of climbing cranes of jib type with equal crane equipment. Method includes mounting of adjusted device on outfitted crane, connection to it load transducer and attitude position transducers of jib type equipment and adjustment of signals in measurement of load channels, outreach and/or angle of slope of jib from condition of providing of correspondence of run-down characteristic of device to specified cargo properties of crane. Method includes copying from nonvolatile memory of safety standard instrument, adjusted in advance on single-type, standard crane with usage of tare cargoes of specified weight, into nonvolatile memory of adjusted device information about measured values of load, boom and/or angle of slope of jib in points of cargo property of crane with known parametres of boom equipment. Copying is implemented before and after mounting of adjusted device on new outfitted crane or on crane, which is in operation after its relocation with removing of transducers and its following installation during crane mounting. After mounting of adjusted of transducers on outfitted crane and connection to its of transducers it is installed boom of outfitted crane into one of positions in the limits of working range angles of slope and azimuth, there are measured parametres of its boom equipment in particular position of boom and there are adjusted signals in channels of load measurement, boom and/or angle of slope of jib by means of addition of pickup signals of adjusted device with signals, corresponding difference of values of pickup signals on measured boom of outfitted crane and equal to it boom of standard crane.

EFFECT: achieved decreasing of labour-intensiveness of safety device adjustment.

2 cl

FIELD: construction industry.

SUBSTANCE: invention refers to safety and control systems of travelling hoisting cranes and cranes with movable equipment. Safety system includes digital unit, to data inputs of which there connected are crane parametre sensors containing at least one movement sensor, actuating unit connected to outputs of digital unit, and at least one indicator. The latter is connected to digital unit and made with possibility of generating signals depending on its current spatial position relative to control position, and digital unit is meant for correction of movement sensor readings as to signals supplied from indicator by using coordinates of control position, which are recorded in digital unit. In addition, safety system is equipped at least with one device installed in control position in working area of movement of crane and/or crane equipment and made in the form of active or passive transponder, or metal flag, or rack, or another metal device so that it interacts with indicator.

EFFECT: simplifying maintenance of crane with safety system, as well as enlarging application area of safety system due to control of positions not only of crane mechanisms, but also crane itself.

2 cl, 1 dwg

FIELD: transport.

SUBSTANCE: invention relates to lifting-and-conveying equipment, particularly to devices intended for controlling load rope tensioning. Device to measure load rope tension comprises base accommodating force pickup and lever. Lever support incorporates rolling bearing and is pivoted to aforesaid base via axle. Lever arm is articulated with load rope with the help of taper bush and interacts with force pickup. Lever arm has a stop for its face surface to come in contact with load rope. Stop face surface features bent shape with constant curvature radius equal to distance from the dace to lever support axle.

EFFECT: higher accuracy of tension measurement, faultless operation of lifting mechanism.

2 cl, 1 dwg

FIELD: oil and gas industry.

SUBSTANCE: invention refers to the method of control over movement of block on drilling rig. According to the first version the method consists in determination of speed of the movable block, of position of the block within the range of displacement, of load of weight on the movable block, in comparison of speed of the movable block with maximum value of speed, notably, that maximum value of speed is determined in function of weight of load on the movable block and position of the block in the range of displacement. Also speed of the movable block is controlled so, as to maintain its speed at maximum value of speed or below it. According to the second version the method provides for determination of speed of the movable block, of position of the movable block within the range of displacement, and also weight of load on the movable block, for calculation of momentum of the movable block, for comparison of momentum of the movable block with maximum value of momentum. Also speed of the movable block is controlled so, as to maintain its momentum at maximum value of momentum or below it.

EFFECT: increased safety of rig operation.

24 cl, 12 dwg

FIELD: machine building.

SUBSTANCE: invention is related to the field of machine building, namely, to production of cranes, and may be used for control of mobile loaded crane stability, mostly jib self-propelled cranes. Method consists in the fact that load moment is calculated and compared to permissible limit, depending on data obtained signal is generated to actuate those actuating mechanisms, which reduce load moment. Additionally speeds of pressure change in outrigger hydraulic cylinders are measured, and their sign is identified, control combinations of pressure change speeds are made, which are then compared to the reference ones, depending on match or mismatch of obtained control combinations with the reference ones, signal for control of parameters that affect stability is generated. Device comprises hydraulic line of outriggers, mechanism for boom swing, analog-to-digital transducer, board microprocessor, board microprocessor memory comprises mathematical model of mobile crane made with the possibility of change depending on type of crane. Pressure sensors are additionally included into hydraulic line of outriggers, board microprocessor has communication with pressure sensors, mechanism for boom swing is equipped with controlled axial-piston hydraulic actuator.

EFFECT: increased efficiency and higher safety level of loading-unloading works.

3 cl, 3 dwg

FIELD: transport.

SUBSTANCE: proposed control system contains the onboard microprocessor control unit with actuators connected thereto, crane operating parameters pickups and controls. The proposed system incorporates means identifying lifted and moved cargo representing a reader of bar codes applied on the cargo, or a radiolabel attached to the cargo, to allow locking the cargo, exceeding the crane lifting capacity, lift and move. The system can contain cargo position pickups to automatically guide the tool to be clamped to the cargo. In compliance with the second version, manual input of the identifier or cargo parameters into this system, and, if required, the coordinates of a final point cargo transfer cargo. Note here that the system incorporates appropriate means preventing the crane overload and optimising cargo transfer trajectories. In compliance with the third version of the control system, the said system can block releasing the cargo from the clamping tool depending on current value of the crane load, speed of move and/or spatial position. In compliance with the fourth version, the control system is equipped with wire or wireless means of transmitting signals from a person, outside the load-lifting crane, to the onboard microprocessor control unit for them to be converted into warning light and/or sound data signals and/or to signals blocking the crane motion.

EFFECT: increase in safety of crane operation, its efficiency and ease of control.

24 cl, 1 dwg

FIELD: transport.

SUBSTANCE: method envisages preliminary determining or setting of admissible values of parameters characterising loading and/or attitude position of outrigger or crane cargo-handling device, memorising this data, measuring of these parameters during crane operation, comparing of measured values with admissible values, and further forming of control signals or blocking of control by execution units in order to prevent exceeding of admissible values. Prior to commencement of crane work or in process of lifting and movement of cargoes crane-operator additionally performs preliminary visual control of crane operation condition or presence of people along way of crane or cargo movement or automatic control of correctness of slinging (securing) of cargo, or automatic check of correctness of crane installation on outriggers or optical measurement of crane performance parameters or automatic change of coordinate parity parameters using GPS receivers, radio-frequency or inertial determination of position devices located on obstacles, clothing or equipment of people. Results of this check or control ensue implementation of additional control or information signals.

EFFECT: enhancement of safety of crane operation and of crane efficiency.

24 cl, 1 dwg

FIELD: transport.

SUBSTANCE: system contains hydraulic, electrohydraulic and/or electric drives of crane mechanisms, control device for these drives, and fuel supply control device connected to it. In process of crane operation automatic fuel supply change is performed depending on load position and/or speed of cargo relocation. In second version of system fuel supply change is automatically related to approach or touch of crane operator's hand to drive control handle. Drive control is made as control unit containing control handle, handle position sensor, and controller with outputs connected immediately, or via additional output device, to control drives' inputs and to device controlling fuel supply. Level of fuel supply in general case is different for different drives and directions of crane movement. After handles of crane drive control are returned to neutral position or after hands are removed from handles, value of motor angular velocity is preserved within preset interval after which minimum preset velocity of motor blank cycle is automatically established.

EFFECT: decrease of specific fuel consumption, efficiency increase, enhancement of usability of crane control and of safety of its operation.

17 cl, 2 dwg

FIELD: transport.

SUBSTANCE: system contains electronic module made on basis of microcontroller with attached device for information input-output, display device, protection system controls located outside electronic module, and execution unit, and cargo-hoisting machine performance sensors connected with device for information input-output. Protection system controls and electronic module perform changing type of display of machine performance indicators and changes in both parameters and performance mode of work of machine protection system - scheduling sequence of telescopic boom sections extension, permitting/forbidding lifting operations mix, release of blocking of movement of cargo-hoisting machine in respect of overload and , blocking of cushioning of machine carrier, cargo-hoisting mechanism mode of braking, or boom extension change, position of bracing jack, etc. Display device may be located outside electronic module and it is made as graphic display.

EFFECT: safety enhancement.

13 cl, 1 dwg

FIELD: construction industry.

SUBSTANCE: invention refers to safety and control systems of travelling hoisting cranes and cranes with movable equipment. Safety system includes digital unit, to data inputs of which there connected are crane parametre sensors containing at least one movement sensor, actuating unit connected to outputs of digital unit, and at least one indicator. The latter is connected to digital unit and made with possibility of generating signals depending on its current spatial position relative to control position, and digital unit is meant for correction of movement sensor readings as to signals supplied from indicator by using coordinates of control position, which are recorded in digital unit. In addition, safety system is equipped at least with one device installed in control position in working area of movement of crane and/or crane equipment and made in the form of active or passive transponder, or metal flag, or rack, or another metal device so that it interacts with indicator.

EFFECT: simplifying maintenance of crane with safety system, as well as enlarging application area of safety system due to control of positions not only of crane mechanisms, but also crane itself.

2 cl, 1 dwg

Up!