Device to control construction machine (versions)

FIELD: transport.

SUBSTANCE: invention relates to construction machinery. Proposed device comprises control board arranged on the machine or made self-contained, transducers of spatial position of boom and/or its sections, and/or machine rotary platform. It comprises also electronic control unit to receive and process signals from transducers and control board, set up and memorise system of coordinates and generate signals for operator and/or those to control machine drives, and display. Display serves to show data coming from electronic unit and/or control board. Electronic control unit decomposes instructions from control board into control signals for boom and/or its sections, and/or machine rotary platform so that control element displacement along one main direction corresponds to boom travel along one axis of set coordinate system. In compliance with 1st version, display, electronic control unit and/or control board can display coordinate system on display furnished with sensor screen, while electronic control unit and display can set up coordinate system using signals generated by sensor screen by operator actions. In compliance with 2nd version, proposed device additionally comprises gripper vertical position transducer, while electronic control unit receives and processes signals from said transducer, and generates gripper actuator control signals.

EFFECT: higher efficiency and accuracy of control.

24 cl, 1 dwg

 

The invention relates to mechanical engineering and can be used in control systems boom and/or lifting the body of cranes, loader cranes, concrete pumps and other construction machines with articulated, Telescopium or lattice boom crane.

Known control device of the lifting of the construction machine containing hydraulic valves actuators machines with manual control, and at least one electro-hydraulic valve included in the hydraulic system of the machine with the possibility of blocking its actuators and sensors parameters crane, connected to a digital electronic computer, the output of which is connected to the electrohydraulic valve [1, 2].

The machine control is thus carried out by the operator by acting on the hydraulic valves each drive, which requires increased efforts to control and worsen the working conditions of the operator.

This drawback does not have a control device lifting machine containing devices electro-hydraulic control, made with the possibility of generating electric control signals actuators actuators of the machine depending on the movements of the handles of these devices in areas relevant to the job R the regimes of operation of each actuator [3, 4].

A disadvantage of this device is the complexity of the machine control mode of the linear motion of the tip (end) of the boom or lifting body, which requires an interrelated control of the individual actuators of the machine. Particularly difficult is the control of the machine with articulated boom, for example, truck-mounted concrete pump, concrete placing in a straight line.

It is also known device control shaft, forming a polar coordinate system, three coordinate axes of which correspond to a rotation of the boom, its lengthening/shortening and increase/decrease the height. In this device to operate in three directions in the polar coordinate system is used, the control lever having three directions of the basic regulation. Each direction corresponds to one coordinate axis. The signal from the lever computing device into control components relative rotation and displacement of the individual boom sections and rotation arrows on the whole so that the tip of the boom can be moved along this coordinate by moving a single lever control. Management components along the three coordinate axes can be combined, providing independent control of the arrow along the three coordinate axes [5, 6].

However, the SFD is certified thus the coordinate system does not provide precise control of movement trajectory of the tip (end) arrows of the machine in a straight line, not passing through the axis of rotation of the turntable (arrows) of the machine. For example, a typical method of placing concrete is laying along straight lines perpendicular to each other, which requires a corresponding movement of the end of the boom of the concrete pump. However, when using the polar coordinate system, the displacement of the free end of the boom in a horizontal plane from one point to another on a line not passing through the axis of rotation of the platform of the machine, it is impossible when you move one control arm in one direction. In this case, a consistent effect of the operator on multiple arms control, which reduces both convenience and accuracy of control.

More perfect is an intelligent device management boom with several articulated sections, which contains a remote control, the control unit and the sensors of the angular position of the individual sections and arrows in General. The control panel contains the display unit feedback intended for graphic and text display the results of executing the current operation of the control shaft of the machine. The drive control of the boom is made from the condition of movement of its end in the specified cylindrical or rectangular (Cartesian) coordinate system in accordance with the control commands is on these coordinates. The control unit based on output signals of the sensors of the angular position of the boom sections and slewing platform, calculates the actual position of the individual sections and arrows in General, and corrects the control command corresponding actuators, and control commands move the arrows along the axes X, Y and Z preset coordinate system are placed on teams drive control of the individual sections and rotation arrows. To set the coordinate system is the installation of boom machine at a certain position, and the control unit is arranged to memorize these provisions and the subsequent formation of coordinate axes in accordance with the directions specified in these provisions [7].

In this device, when the operator of the remote control commands to install rectangular or cylindrical coordinate system as the origin, you can use the rotary platform and the direction of the arrows as a positive direction of the Y-axis of this coordinate system. This command is mainly when the control lever on the control panel in the Central (neutral) position.

Another option is the installation of a rectangular coordinate system in the known device is implemented after the transfer of the mode selector switch in the "learning" mode. In "teach what you eat" mode the operator, through control of the machine, moves the end of the boom in a certain position on a horizontal plane. Position coordinates of the end of the boom is recorded in the memory of the control unit. Next, the control unit generates in the space of a connecting line from the start point to the destination, which is taken as the positive direction of the axis X. Accordingly, the Y-axis is determined by the control unit as the axis horizontal and perpendicular to the axis X.

After installation, coordinate systems, displacement operator is proportional to the control lever of the remote control main direction corresponding to the X-axis, moves the end of the boom parallel to the axis X in the plane rectangular coordinate system, the displacement is proportional to the control lever in the direction corresponding to the Y-axis corresponds to the displacement of the free end of the boom parallel to the Y axis in the same plane. The movement of the other of the proportional control lever in the direction corresponding to the Z-axis, which causes vertical movement of the boom is changing the height of the end of the boom along the z axis.

The known device provides increased accuracy and ease of operation end (end) arrows of the construction machine. However, to set the coordinate system in this device needs to be consistent movement of the boom of the machine in different the spatial position.

This leads to reduced productivity due to additional time spent on moving arrows, as well as to reduce the security of its operation due to possible collisions arrows with obstacles in the installation process of the coordinate system.

In the known device is not provided is also necessary accuracy and ease of operation lifting body building machines, such as crane, because the cargo winch the tip (end) of the arrow and lifting the body move in different paths, that is not tracked by the controller.

Technical results, seeks to achieve the claimed invention, are:

- improving the efficiency of the work of the construction machine by reducing the time spent on the installation of the coordinate system and ensure accurate position control of the lifting body in the given coordinate system;

- improving the safety of operation of the machine by eliminating movements of her arrows when installing coordinate system and by providing the operator on the display device a more complete warning information about the occurrence of potentially dangerous situations;

improved operator comfort by increasing the information content display devices.

In the control device is of a construction machine, contains the control panel, located on the machine or run standalone with the possibility of a wired or wireless transmission of signals, sensors spatial position of the boom and turntable machines, display device and an electronic control unit, carrying out reception and processing of signals from sensors and remote, as well as the installation and memorizing the coordinate system and the formation, depending on the results of this processing, information signals and control signals drives the machine through the decomposition of commands from the remote control signals to the drive control of the boom sections, rotation of the boom or platform of the machine so that the moving body control on the console in one main direction corresponds move the end of the boom along one axis of the prescribed coordinate system of the specified technical result is achieved by the fact that the display device and the electronic unit and/or remote control is designed with the ability to display coordinate system on the display device, and use the displayed information when installing the operator coordinate system.

In the second variant of the control device of construction machine with the same remote control, sensors spatial position of the boom, the display, and then the electronic control unit, receipt and processing of signals from sensors and remote, as well as the installation and memorizing the coordinate system and the formation, depending on the results of this processing, information signals for the operator and/or control signals drives the machine through a similar decomposition of the commands from the remote control signals to control the actuators, the specified technical result is achieved due to the fact that the control device is additionally equipped with a position sensor hauling in height, electronic control unit is adapted for receiving and processing signals from the sensor and generating signals for controlling the drive of the lifting/lowering of the lifting body, for example, the actuator cargo winch, and constructive element of the construction machine, for which you set the coordinate system, is lifting the body of the machine.

In addition, to achieve these technical results, in both cases, the control system of the construction machine, in particular:

the electronic control unit is adapted to set and remember rectangular, polar, cylindrical and/or spherical coordinate system, and is configured to select one of the defined coordinate system to signal operator with remote control;

- remote control and display the Noah unit configured to select and correct list of the names and parameters of the established coordinate systems, as well as displaying them on the screen of the display device;

the electronic unit is made with the ability to remember the spatial position of the end of the boom or lifting of the body and subsequent installation of the coordinate system with the use of these provisions;

- a display device configured to display on its screen location of the beginning of the coordinate system, its axes, and, if necessary, icons management origin and the directions of the axes, and the control panel with the capability to provide the beginning and the coordinate axis directions by typing in the control unit of the numerical values or use the cursor;

- a display device equipped with a touch screen used for setting a coordinate system;

- remote control is equipped with a management body for smooth or discrete rotating coordinate system;

the electronic control unit and a display device configured to display the boundaries of the permitted zone of operation of the construction machine, introduced in the electronic control unit when setting the coordinate protection;

- also used a video camera and display on the screen display device of the working area of the machine and the coordinate system;

the electronic control unit is made capable of receiving signals from outside of the it device positioning and installation of the coordinate system by the operator's commands using these signals.

The implementation of these distinctive features allows you to:

- implemented the ability to install and change the coordinate system without changing the spatial position of the boom and hauling machines;

- to provide increased accuracy and ease of operation in the fixed coordinate system is not only the end (tip) of the boom, but lifting body building machines;

- implement convenient for the operator of the machine the process of entering a coordinate system, as well as increased information content display devices.

Therefore, the implementation of these distinguishing features is in direct causal connection with the achievement of the following technical result of the claimed invention.

The drawing shows a simplified functional diagram of the control device of construction machine.

The device includes an electronic control unit 1 and connected by separate wires, the multiplex communication line (CAN, LIN, and the like) or a wireless interface (ZigBee, Bluetooth, Wi-Fi etc) remote control of the construction machine 2, the display device 3, the sensors of the spatial position of the boom, its separate sections, hauling and turntable 4 and additional sensors 5.

The electronic control unit 1, also referred to as a "data processing unit", "the way to the new computing machine", "controls and readout", "controller" and the like, implemented on the basis of the microcontroller 6. Connected to the device input/output information 7, the memory device (Flash memory) 8 and, if necessary, controls (keyboard), light, graphic, symbolic, visual and/or audible indicators, real-time clock and other devices, not shown conventionally in the drawing.

Remote control 2 in the General case includes switches for selecting operating modes of the device and modes of machine control: control the position of the end (tip) or lifting body control in manual mode (control mode separate drives), as well as management in a rectangular or cylindrical coordinate system.

Remote control 2 is also set proportional levers to control the machine in the X, Y and z control axes X and Y is used, mainly, of two-body (lever) control. The vertical (Z-axis) is carried out by means of another lever proportional control.

Panel 2 also contains additional controls designed to manage the selection, recording and erasing options coordinate system, the rotation of its axis, cursor control when setting the coordinate system parameters, control parameters is Rami video etc.

Display device 3 is made on the basis LCD graphic display in a separate structure that is installed in the cabin of the vehicle to the operator. If you use the remote control of the machine, the control unit 2 and a display device 3 are constructively combined and executed as a remote control.

The position sensor 4 (sensor length of the boom, the sensor azimuth angle, sensor boom angle and its separate sections, gauge limit the lifting height and lifting body etc), made in the form of gravitational angular position sensors, potentiometric sensors, angle or linear displacement sensors. The position sensor hauling in height can be in the form of sensor length (winder) rope cargo winch.

Additional sensors 5 may include a video camera, sensor load or weight of lifted load (force sensor or pressure sensors in the hydraulic cylinder drives the boom or individual sections), the proximity sensor to the transmission line, the sensors of the longitudinal and transverse tilt of the base chassis of the machine, the feedback sensors actuators of the machine, the receiving device signals from an external device positioning, etc. Required additional sensors 5 is determined by the design of specific the th construction machinery, option implementation of its management system, and the need to implement additional functions of this system, for example, functions to protect the machine from overloading and from collisions with obstacles when working in cramped conditions (functions coordinate protection).

Drives construction machine made, mainly in the form of hydraulic cylinders or hydraulic motors driven electric proportional or discrete valves. The electronic control unit 1 is connected with these drives through the actuator 9, made in the form of the power electronic unit with discrete, proportional or pulse width of the output signals.

The control device, the machine operates as follows.

Before you begin construction machine operator using the controls located on the control panel 2, selects, or the formation of a coordinate system, in which the control of the movement of the main boom tip or hauling machine. The control of these operations, the operator performs using the display device 3.

If the storage device 8 were previously recorded coordinate system, a command from the remote control 2 their names and parameters are displayed on the screen of the display device 3. The operator, using the authority is in control of the remote controller 2 or the touch screen display device 3, selects one of these coordinate systems. This choice, to improve the convenience of the operator can be performed in the interactive mode using the cursor on the screen of the display device 3.

If necessary, the operator corrects the individual parameters of this coordinate system displayed on the screen of the display device 3. The changes are stored in the storage device 8.

The installation of the new system of coordinates is performed by the operator using the display device 3, which shows the elements of the set coordinate system to process its input.

On this screen, in General, shows the area of operation of the machine (construction site), drawing on her construction machinery, its boom and hauling, as well as restrictions on coordinate protection - displays various obstacles located on the construction site, collision with which you must avoid, and the boundaries of separate zones, over which prohibited the transfer of goods. This screen also displays the location of the beginning of the coordinate system, axis, and, if necessary, icons for controlling the position of the beginning of the coordinate system and the directions of its axes.

The operator visually monitoring the position of the machine on the construction site is using the information displayed on the screen of the display device 3 using the remote control 2 sets the beginning of a new coordinate system in the desired position on the screen of the display device corresponding to a particular point in the work area. Next, the operator selects the desired coordinate system is rectangular, polar, cylindrical or spherical. The position of the axes of the input coordinate system is defined by input by the operator from the control panel 2 the numerical values of the parameters determining their direction on the screen of the display device and, accordingly, in the working space of the construction machine, using the command fixing the position of the cursor at certain points of the screen display device 3, through which must pass the coordinate axis, through action on the touch screen and other methods.

Schematic representation of the working area construction machinery during the implementation procedures of the input coordinate system, with the aim of improving operator comfort and increase the accuracy of the input can be replaced by its image.

The coordinate system can also be set by serial transfer end of the boom or lifting of the body of the machine in the specific terms and remember these provisions as points, passing through the origin and the coordinate axes.

Delapouite accurate and secure installation of the coordinate system, the movement of the boom or lifting body may be replaced by moving the external device positioning. In this case, the control device of construction machine is additionally equipped with an external device positioning and forming part of the sensors 5 additional device transmission/reception signals of the external device positioning.

The principle of positioning external positioning device relative to the construction machine can be inertial, using receivers of the global positioning satellite (GPS)installed on the machine and the external device positioning using range finders, etc. External positioning device and the electronic control unit 1 communicate over a wired or wireless communication channel.

Work on the construction site during installation of the coordinate system sequentially transfers the external device positioning in a separate point, has to pass through the coordinate axes. For example, in some point of the line laying concrete truck-mounted concrete pump. Not less than two points of this line by the team working on the building site or the operator of the construction machine is recording the coordinates of these points in the storage device 8 or the memory microcontr llera 6.

Next, the microcontroller 6 using the coordinates of these points forms a line passing through these points, and, after computing its projection on the horizontal or vertical plane, sets the appropriate axis in the coordinate system and displays it on the screen of the display device 3. After checking and, if necessary, correction operator parameters of the input coordinate system, they are written in the storage device 8 and then used in the machine.

The operator, after the selection or setting of a coordinate system, carries out control of the machine control panel 2. In the process, control the microcontroller 6 electronic control unit 1 operates according to the program stored in its built-in program memory or storage device 8, and through the device input/output information 7 communicates with the remote control 2 and sensors 4 and 5.

After receiving information from sensors 4 and 5, the microcontroller 6 with the use of a mathematical model of the machine stored in the storage device 8 determines the current (actual) position of the boom, its individual sections and hauling machine and sends the appropriate signals to the display positions on the display device 3. These provisions appear simultaneously with the selected system coordination is at.

When the machine operator moves one of the arms control remote 2 in the main direction of one of the coordinate axes X, Y or Z, corresponding to the displacement of the free end of the boom or lifting of the body in the desired direction. This signal from the remote control 2 through the device input/output information 7 is fed to the microcontroller 6.

The microcontroller 6, analyzing the current position of the boom and hauling machine, performs the decomposition (decomposition) of the signal from the remote control on a separate control signals to each actuator of the machine. This decomposition is carried out so that the drives of the machine under the influence of these control signals provided to the moving end of the boom or lifting body in the direction of the axis of coordinates, which is given by the operator when the deviation in the handle.

If, for example, in a rectangular coordinate system operator formed a team on a straight-line motion hauling the boom of the crane along the horizontal axis X or Y, then, to maintain the height of the lifting body unchanged (Z=const), is the simultaneous formation of both the signal drive control lifting/lowering of the boom (to change departure), and the signal of the drive control of the cargo winch. This electronic control unit 1 supports is no necessary correlation between the signals of the drive control lifting/lowering of the boom and load winches, set of conditions that changing the height of the lifting body by lifting/lowering the boom must be compensated for by the drive of the cargo winch.

The deviation operator arm on the remote control 2 to a greater or lesser angle on any axis X, Y or Z leads, respectively, to increase or decrease the speed of movement of the end of the boom or lifting body on this axis. While rejecting the handle in directions of axes X and Y, i.e. when combined control, the electronic control unit 1 carries out the formation of control signals and drives in both axes X, Y. the Additional deflection of the control arm along the Z axis causes the vertical displacement of the free end of the boom or lifting of the body.

When performing drive control, the microcontroller 6 additionally controls the admissibility of movement of the end of the boom or lifting of the body from conditions prevent overloading of the machine or collisions with obstacles, the parameters of which are pre-recorded in the storage device 8 when the input parameters of the coordinate protection. If this move is invalid, is blocking the work of the drives or change the control signals of these drives.

Simultaneously with the formation of signals n is the Executive unit 9, the electronic control unit 1 outputs to the display device 3, the signal informing the operator of the work machine and a warning about the emergence of potentially dangerous situations.

To document the work of the construction machine, the control device may include an external or built-in Registrar settings implemented on the basis of the storage device 8, in which the microcontroller 6 periodically writes the values of the main parameters of the machine (departure angle and the length of the boom, load moment, and so on), warning signals and control signals to the machine. The recorder is made with the possibility of reading these data to analyze the efficiency of the machine and to investigate possible causes of failures and accidents.

In this specification, schematically shown only private options for the implementation of the proposed control device of construction machine. The invention encompasses other possible variations of its performance and cash equivalents without departure from the invention set forth in the formula.

1. The control device of construction machine that contains the control panel, located on the machine or run standalone with the possibility of a wired or wireless transmission of signals, sensors spatial position of the boom and/or individual is of ECCI, and/or turntable machines, electronic control unit, adapted for receiving and processing signals from the sensors and remote control, as well as for setting and storing a coordinate system and forming depending on the results of this processing of information signals for the operator and/or control signals drives the machine, and a display device configured to display information received from the electronic unit and/or remote control, and an electronic control unit configured to decomposition of the commands from the remote control on the generated control signals for the actuators of the boom and/or its individual sections, and/or turning the platform of the machine so that the moving body control on the console in one main direction corresponds to a moving end of the boom along one axis of the established coordinate system, wherein the display device and the electronic unit and/or remote control is designed with the ability to display coordinate system on the display device that has a touch screen, and the electronic control unit and a display device configured to setup a coordinate system using signals generated by the touch screen under the influence of the operator.

2. The device according to claim 1, from causesa fact, what is electronic control unit is adapted for setting and storing a rectangular, and/or polar, and/or cylindrical and/or spherical coordinate system.

3. The device according to claim 1 or 2, characterized in that the electronic control unit is configured to select one of the defined coordinate system to signal operator with remote control and with the possibility of subsequent use of the selected coordinate system in the formation of information signals for the operator and/or control signals to the actuators of the machine.

4. The device according to claim 3, characterized in that the remote control and a display device configured to display on the screen of the display device names and parameters set of coordinate systems, with the possibility to erase or adjust the parameters of the individual coordinate systems.

5. The device according to claim 1, characterized in that the electronic control unit is additionally configured to remember the spatial position of the end of the boom by the operator's commands and subsequent installation of the coordinate system from the condition of passing through the axis of the coordinate system, at least through two points or two projection points on a horizontal or vertical plane.

6. The device according to claim 1, characterized in that the display device is made with the option of displaying on its screen location of the beginning of the coordinate system, its axes, and, if necessary, icons for controlling the position of the beginning of the coordinate system and the directions of its axes.

7. The device according to claim 1 or 6, characterized in that the control unit is configured to input the beginning and the coordinate axis directions by typing in the control unit of the numerical values and/or by moving the cursor on the screen display device and transmission operator commands memorization of certain provisions of this cursor.

8. The device according to claim 1, characterized in that the remote control is equipped with a management body for generating signals smooth or discrete coordinate system is rotated around its axis, and the electronic control unit is made capable of receiving the signal of the governing body and the corresponding transformation of the coordinate system.

9. The device according to claim 1, characterized in that the electronic control unit and a display device configured to display on the screen display device of the boundaries of the permitted zone of operation of the construction machine, introduced in the electronic control unit when setting the coordinate protection.

10. The device according to claim 1, characterized in that it is additionally equipped with a video camera and a display device configured to receive video signals and display them on the screen simultaneously with the introduced system is th coordinate.

11. The device according to claim 1, characterized in that the electronic control unit is made capable of receiving signals from an external device positioning and installation of the coordinate system by the operator's commands using these signals.

12. The control device of construction machine that contains the control panel, located on the machine or run standalone with the possibility of a wired or wireless transmission of signals, sensors, installed on the construction machine and configured to measure parameters describing the spatial position of the boom, the electronic control unit, adapted for receiving and processing signals from the sensors and remote control, as well as for setting and storing a coordinate system and forming depending on the results of this processing of information signals for the operator and/or control signals drives the machine, and a display device configured to display information received from the electronic component and or remote control, and an electronic control unit configured to decomposition of the commands from the remote control on the generated control signals for the actuators of the machine so that the moving body control on the console in one main direction corresponds to moving the design to the active element of the construction machine along one axis of the established coordinate system, characterized in that it further comprises a position sensor hauling in height, electronic control unit is adapted for receiving and processing signals from the sensor and generating signals for controlling the drive of the lifting/lowering of the lifting body, and a constructive element of the construction machine, for which you set the coordinate system, is lifting the body of the machine.

13. The device according to item 12, wherein the display device and the electronic unit and/or remote control is designed with the ability to display coordinate system on the display device and the information displayed on the display device when installing the operator coordinate system.

14. The device according to item 12, wherein the electronic control unit is configured to remember the spatial position of the lifting body to the operator's commands and subsequent installation of the coordinate system from the condition of passing through the axis of this coordinate system, at least through two points or two projections of these points on a horizontal or vertical plane.

15. The device according to item 12, wherein the electronic control unit is adapted for setting and storing a rectangular, and/or polar, and/or cylindrical and/and and a spherical coordinate system.

16. The device according to item 12 or 15, characterized in that the electronic control unit is configured to select one of the defined coordinate system to signal operator with remote control and with the possibility of subsequent use of the selected coordinate system in the formation of information signals for the operator and/or control signals to the actuators of the machine.

17. The device according to item 16, characterized in that the remote control and a display device configured to display on the screen of the display device names and parameters set of coordinate systems, as well as with a choice of one of the coordinate systems for management and, if necessary, to erase or adjust the parameters of the individual coordinate systems.

18. The device according to item 12, wherein the display device is configured to display on its screen location of the beginning of the coordinate system and the axes of the coordinate system, and, if necessary, icons for controlling the position of the beginning of the coordinate system and the directions of the axes of the coordinate system.

19. The device according to item 12 or 18, characterized in that the control unit is configured to input the beginning and the coordinate axis directions by typing in the control unit of the numerical values and/or by moving the cursor on e is wound display device and transmission operator commands memorization of certain provisions of this cursor.

20. The device according to item 12 or 18, characterized in that the display device has a touch screen, and the electronic control unit and a display device configured to setup a coordinate system using signals generated by the touch screen under the influence of the operator.

21. The device according to item 12, characterized in that the remote control is equipped with a management body for generating signals smooth or discrete coordinate system is rotated around its axis, and the electronic control unit is made capable of receiving the signal of this control and the corresponding transformation of the coordinate system.

22. The device according to item 12, wherein the electronic control unit and a display device configured to display on the screen display device of the boundaries of the permitted zone of operation of the construction machine, introduced in the electronic control unit when setting the coordinate protection.

23. The device according to item 12, characterized in that it is additionally equipped with a video camera and a display device configured to receive video signals and display them on the screen simultaneously with the entered coordinate system.

24. The device according to item 12, wherein the electronic control unit is configured to receive signals from externally what about the positioning and installation of the coordinate system by the operator's commands using these signals.



 

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12 cl, 1 dwg

FIELD: transport.

SUBSTANCE: invention relates to method of safe control over hoisting crane. Proposed method consists in presetting tolerable parametres describing load and/or spatial position of crane jib and/or load handling fixture. It comprises measuring directly or indirectly of said parametres in operation. It includes also stoppage of implementing crane operator instruction about varying crane jib and/or load handling fixture spatial position, or limiting drive operation proceeding from the condition of drive outage in case measured parametres exceeds its preset tolerance. In compliance with this method, one tolerance is additionally varied if the other parametre falls beyond its preset tolerance.

EFFECT: higher safety in operation.

13 cl, 1 dwg

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

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: machine-building.

SUBSTANCE: invention related to device versions for using in hoisting machines control and protection systems. Detector has an activator with constant magnet, installed with rotation ability in case of controlled device displacement, two sealed contacts, installed with ability of actuation under constant magnets field effect, in order defined with magnets circular displacement or rotation direction, output device and self-contained power supply source, connected to the sealed contact first outputs. According to first version device contains diode-condenser block and micro controller. Micro controllers output/input connected to input or bi-directional output/input of the output device. The second sealed contacts outputs connected to the micro controller inputs via the diode-condenser block, and diode-condenser block executed with ability of micro controller supply voltage generation or control of this supply. According to the second version the second sealed contacts outputs connected, directly of via filtrating chains, to micro controller outputs, which supply outputs connected to the self-contained power supply source.

EFFECT: bigger time interval betwen technical maintainance procedures, safety during increase hoisting machine operation, detector lifetime increase.

25 cl, 2 dwg

FIELD: load lifting equipment.

SUBSTANCE: proposed device comprises machine operator work station, machine hydraulic or electric drives incorporating control elements connected to operator control instruction transmission means. The latter included control handle and safety electronic device to lock machine drives, if required. In compliance with first version, device comprises one control handle angular position/travel rate pickup, while one safety device input and output are connected to one output of said pickup and one input of hydraulic system unloading means. In compliance with second version, device comprises operator hand motion and/or spatial position pickup built around micromechanical accelerometre, or capacitative, or ultrasound, or radio-wave metre, while safety device input and output are connected with pickup output and one input of hydraulic system unloading means or other means of interlocking machine hydraulic drives. In compliance with third version, device comprises at least one permitted manual control member travel direction indicator, while one safety device output is connected with one input of indicator. In compliance with fourth version, device comprises pickups of drive control member travel and/or drive control elements, together with safety device, allows wireless data transmission from pickups to proposed device.

EFFECT: higher reliability and safety.

23 cl, 1 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

Manipulation system // 2389599

FIELD: process engineering.

SUBSTANCE: manipulation system comprises main vertical beam (2) rotating about vertical axis (4), horizontal boom (12) thrusting upon said main beam (2) via carriage (9) that moves vertically. Said horizontal boom (12) is furnished with articulated lever (14) rotating about vertical axis (15) and grip (18) that rests, directly or indirectly, upon said horizontal boom (12). Linear guide of horizontal boom (12) rests on lower side of vertical carriage (9) to move horizontally. Length of articulated lever (14) relates to that of horizontal boom (12) as 0.4:1 and 1:1. Said grip is arranged on the end of articulated lever (14). Said manipulation system serves to feed tools and workpieces to front hole of metal processing machine tool and, hence, to withdraw them therefrom.

EFFECT: expanded performances, simple design and stable structure.

17 cl, 9 dwg

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