RU55760U1 - CRANE REMOTE CONTROL SYSTEM (CDS) - Google Patents

Abstract

This technical solution relates to control and regulatory systems for general use, namely, to means and systems for controlling hoisting cranes. The system for remote control of hoisting cranes (CDS) is designed for remote control over the radio channel using the remote control overhead crane with a lifting capacity of up to 10 tons. The system consists of a remote control, control unit and an external antenna. Specifications. Power supply of the control unit BU SDU - alternating current voltage of 380 V (+ 10%, -15%) with a frequency of 50 ± 1 Hz. The power supply of the control panel PU is carried out from a rechargeable battery of size AA with a capacity of at least 1500 mA / h. The radius of the system is 50 m. The transmitter power does not exceed 10 mW, the operating frequency is 433 + 1 MHz, which does not require permission in the territorial bodies of Rossvyaznadzor. When equipping a crane with this system, it remains possible to switch from remote control to manual and vice versa. Overall dimensions: - BU cabinet - no more than 1500 × 1000 × 350 mm; - PU shells - no more than 24 × 70 × 192 mm. Weight: BU - not more than 80 kg; PU - not more than 0.35 kg. The system for climatic modification belongs to the category "TU" according to GOST 15150-69. Depending on the location during operation, the system belongs to category 2 according to GOST 15150-69. The performance of the system is not disturbed when exposed to sinusoidal vibration up to 25 Hz with an amplitude of up to 0.1 mm. The limiting operating values of climatic operating conditions: - ambient temperature - from plus 1 ° C to plus 50 ° C;

- relative humidity - 80% at air temperature plus 25 ° C; - atmospheric pressure from 84 to 106.7 kPa (from 630 to 800 mmHg). The control panel (PU) is designed to transmit code commands for controlling the crane over the air. The buttons on the remote control are marked with symbols for crane mechanisms, as well as emergency and signal commands adopted according to the international standard. The control unit BU is located in the cabinet CDS installed on the crane site. In the CDS cabinet on a common metal panel the following are installed: radio channel module; a control type switch and a switching unit in which circuit breakers, a transformer and electromagnetic control circuit starters are mounted. The radio channel module contains a transceiver with an antenna, a microcontroller, a galvanic isolation unit. A switch is installed on the CDS cabinet, with the help of which either the radio control modes (“RADIO”) or the control from the crane operator’s cabin (“CAB”) are set and the possibility of their simultaneous operation is excluded.

Description

Technical field

This technical solution relates to control and regulatory systems for general use, namely, to means and systems for controlling hoisting cranes.

State of the art

A DEVICE FOR REMOTE CONTROL OF ELECTRIC DRIVES is known (RF patent for utility model No. 43417, application No. 2004127810 dated September 20, 2004, published January 10, 2005, bull. No. 1), including a housing, a shaft on which cam washers, a handle switching, characterized in that the device is equipped with an additional shaft with cam elements and a shift handle, and the free ends of the shafts are located in the bearing support mounted inside the housing.

A disadvantage of the known analogue is the lack in its functionality of the ability to control the cranes remotely over a wireless channel.

Another analogue of the claimed technical solution is the MANAGEMENT SYSTEM OF LARGE LOAD CRANE (patent of the Russian Federation for utility model No. 43257, application No. 2004128586/22 dated September 28, 2004, published January 10, 2005, bull. No. 1), which contains load weight control units, crane movement, hook lifting height, boom extension, platform rotation, wind speed sensor, azimuth sensor,

connected through the information processing unit to the control relay unit associated with the crane units, characterized in that the load weight control unit is made in the form of a weight sensor, one end of which is fixed with a pin on the wings, and the other end is secured to the strut through the interface unit in the form of a lanyard, the crane movement control unit and the hook lift height control unit are each made in the form of an azimuth sensor fixed by a bracket on the gearbox housing and connected by the gearbox output by an interface unit in the form of a transmission shaft, set a gearbox mounted in the outlet and fixed to the sensor inlet with a nut, and the gearbox inlet through another interface node in the form of a gear shaft mounted on the axis of the gearbox inlet is connected to the wheel axle of the crane trolley or the axis of the load winch, respectively, the boom departure control unit and the block the rotation control of the crane platform is each made in the form of an azimuth sensor mounted on the cover of the limit switch by means of an interface unit in the form of a cylindrical pin with an internal thread, one end q is through an opening formed in the lid limit switch is mounted on the axis of the limit switch cam unit and at the other end of the pin is fixed azimuth sensor fixed nut and stud.

The disadvantage of this analogue is the impossibility of remote radio control of heavy cranes and the excessive complexity of the system.

The next analogue of the proposed technical solution is the RADIO CONTROL UNIT CRANE CRANE “COMKON URMKK” (advertising materials, NPP Sistema + Service, Ukraine 610001, Kharkov, 4, Gagarina ave., Www.komkon.com, ua), designed to transmit and receive radio signals controlling the mechanisms of the bridge crane and the micropower transceiver module, the keypad panel module, the remote controller controller module and the antenna, as well as the receiving transceiver and the crane mechanism controller, which contains the transceiver panel.

The disadvantage of this analogue is the excessive complexity and high cost of the kit.

The closest analogue of the claimed device is a CRANE RADIO CONTROL SYSTEM (RADUK 3-MZK-U2 RUZk.00.00.00.00-07, LLC Firma RADUK, 115054, Moscow, Dubinskaya St. 68), designed for remote control over a radio channel using a push-button remote control with a bridge crane and consisting of transmitting and receiving sets.

A disadvantage of the known device is the complexity and high cost of the control kit.

The essence of the technical solution

A known control system of hoisting cranes containing a control panel (PU), a control unit (BU) and an external antenna connected to the control unit.

The purpose of this technical solution is to expand the functionality, create a reliable kit, improve cost performance.

To achieve the technical result, the control panel contains an antenna WA1, an RF transceiver connected to an antenna WA1, a logical unit UL1, containing a microcontroller MK1 with an interface unit BJ, connected through an interface unit BJ with an RF transceiver using the first group of inputs and outputs, an SVP power supervisor and software package PO1, a KB keyboard connected to the MK1 microcontroller through a second group of inputs / outputs, a soft starter power conversion unit, the output of which is connected to the input of the supervisor I’m the SVP of the MK1 microcontroller, the KM key mark, the output of which is connected to the input of the soft starter power conversion unit, the GB battery, the output of which is connected to the input of the KM key mark, the control unit (BU) contains an MRK radio channel module containing an RF transceiver connected to the output of the control unit for connecting an external antenna WA2, a logical UL2 node, containing a MK2 microcontroller with a BJ interface node, connected via an BJ interface node to an RF transceiver module of an MPK radio channel module, and software package PO1, programmable logic integrated circuit FPGA, the first output and input of which are connected respectively to the second input and the first output of the MK2 microcontroller, software package PO2 connected to the second input of the FPGA, galvanic isolation node UGR, the input of which is connected to the second output of the FPGA, as well as the switching node UKSS power circuits, the input of which is connected to the output of the UGR galvanic isolation node, a PRR operating mode switch, the first input of which is connected to the output of the UKSS power circuit switching node, the second input with the manual control output of the switchgear, and two outputs, respectively, with two inputs of the crane actuators.

The control panel also contains a key mark, a PWR power indicator, a MODE mode indicator, a START button, a STOP button, an Ascend button, a Crane forward button, a High speed button, a Shutter button, a “ Crane back ”,“ Cart to the left ”button,“ Cart to the right ”button.

The external antenna is made in the form of a pin, a cylindrical tubular body, a base made of insulating material and a bracket with a bracket for attaching to tubular structures and a cable for connection to the radio channel module of the control unit.

List of drawings

Figure 1 shows the structural diagram of a system for remote control of hoisting cranes (CDS).

Figure 2 shows a drawing of a General view of the control panel (PU).

An example of an embodiment of a technical solution

Figure 1 shows: 1 - control panel (PU) consisting of: 2 - WA1 antenna, 3 - RF transceiver, 4 - logical unit UL1, 5 - microcontroller MK1, 6 - interface node Bit Jockey BJ, 7 - SVP power supervisor 8 - software package PO1, 9 - KB keyboard, 10 - soft starter power conversion unit, 11 - KM key-mark, 12 - rechargeable battery GB, 13 - control unit (BU), it includes the MPK 14 radio channel module, consisting of from RF 3 transceiver, logical UL2 node 15, which includes 16 - MK2 microcontroller with interface node BJ 6 and software package PO1 8, 1 7 - programmable logic integrated circuit FPGA, as well as software package PO2 18 and galvanic isolation unit UGR 19, 20 - switching center of power circuits of the UKTS, 21 - switch of operating modes of the PRP, 22 - external antenna WA2.

Figure 1 additionally indicated: 23 - actuators of the crane, 24-manual control.

2 additionally marked: 25 - power indicator PWR, 26 - mode indicator MODE, 27 - button "START" SB 1, 28 - button "STOP" SB2, 29 - button "Lift" SB3, 30 - button "Crane forward "SB4, 31 - button" high speed "SB5, 32 - button" Descent "SB6, 33 - button" Crane back "SB7, 34 - button" Trolley left "SB8, 35 - button" Trolley right "SB9.

The system for remote control of hoisting cranes (SDU) is designed for remote control over the radio channel using a push button remote control overhead crane with a lifting capacity of up to 10 tons.

- transmitting kit - control panel PU;

- receiving set - control unit BU.

Specifications.

Power supply of the control unit BU SDU - alternating current voltage of 380 V (+ 10%, -15%) with a frequency of 50 ± 1 Hz.

The power supply for the control panel PU is carried out from a rechargeable battery of size AA with a capacity of at least 1500 mA / h

The radius of the system is 50 m.

The transmitter power does not exceed 10 mW, the operating frequency is 433 ± 1 MHz, which does not require permission in the territorial bodies of Rossvyaznadzor.

When equipping a crane with this system, it remains possible to switch from remote control to manual and vice versa.

Dimensions:

- BU cabinet - no more than 1500 × 1000 × 350 mm;

- PU shells - no more than 24 × 70 × 192 mm.

Weight:

BU - not more than 80 kg;

PU - not more than 0.35 kg.

The system for climatic modification belongs to the category "TU" according to GOST 15150-69.

Depending on the location during operation, the system belongs to category 2 according to GOST 15150-69.

The performance of the system is not disturbed when exposed to sinusoidal vibration up to 25 Hz with an amplitude of up to 0.1 mm.

Maximum operating values of climatic conditions of operation:

- ambient temperature - from plus 1 ° C to plus 50 ° C;

- relative humidity - 80% at air temperature plus 25 ° C;

- atmospheric pressure from 84 to 106.7 kPa (from 630 to 800 mmHg).

Device and work

The system consists of a control unit for the control unit, a control panel for the control unit, and an external antenna WA2 connected to the control unit.

After turning on the KM 11 key mark of the PU 1 control panel, power from the GB 12 battery is supplied to the power supply conversion unit SCP 10, where the required voltage level is formed, controlled by the power supervisor SVP 7 of the logical UL1 node 4. Microcontroller MK1 5 of the logical UL1 node 4 is programmable circuit element. When power is supplied to the logical UL1 4 node, the MK1 5 microcontroller begins to constantly scan the KB 9 keyboard and, when the control button (or a certain combination of buttons) is pressed, generates control signals for the RF 3 transceiver remote control via the BJ 6 interface node. The transceiver is a radio module operating at a frequency of 433.92 MHz. Type of

modulations - FM. The high-frequency signal of the RF 3 transceiver through the antenna WA1 2 of the control panel is transmitted to the corresponding radio signal receiver.

The operating mode switch PRP 21 of the control unit BU 13 switches the crane from manual control to remote control over the air. When you switch the PRR 21 to the remote control position, the control unit BU13 is turned on, and the manual control of the crane is turned off and locked. The radio signal from the WA2 22 antenna is fed to the input of the RF transceiver 3 of the MPK 14 radio channel module of the BU 13 control unit and then through the BJ 6 interface node to the MK2 16 microcontroller. According to the program, the MK2 1 6 microcontroller sends a code combination corresponding to the pressed button on the control panel to the programmable logic FPGA integrated circuit 17, which controls its operation and, in violation of the operating algorithm, brings the microcontroller to its original state through the watchdog signal of the WD timer. The programmable logic integrated circuit FPGA 17 processes the code combination and provides a control signal through the galvanic isolation unit UGR 19 to the switching center of the power circuits of UKTs 20. The switching center of power circuits of UKTs 20 directly turns on the actuating mechanisms of the ИМК 23 crane.

Intended use.

Preparing the system for work

Before starting work, the crane operator must perform the following operations.

Check the readiness of the crane for work, the absence of loose objects on the crane.

From the protective panel of the crane, the “key tag" used when working from the crane cabin must be removed.

Set the control type switch to the “RADIO” position.

Supply voltage to the tap.

To receive in the prescribed manner the control panel 1, a charged battery 12 (2 AA elements) and a key-mark 11.

Perform a visual inspection of the remote control and make sure that there are no visible damages, dents, breaks in the control buttons or antenna.

Connect the GB 12 rechargeable battery to the remote control, turn on the key-mark 11, check the “PWR” 25 LED on the remote control, and turn on the control lamp on the tap.

On the remote control, press and release the button 27, check the shutdown of the control lamp on the tap and the short-time sound signal.

Press and release the button 28, check that the control lamp is turned on.

Operating procedure

Turn on the key mark on the control panel. In this case, the control lamp should turn on on the tap.

Press and release the button on the remote control 27. At the same time, a sound signal should turn on for a short time on the crane and the control lamp should turn off.

Control of crane mechanisms.

To control the mechanism of movement of the crane, you must press the button SB4 30. At the same time, the crane begins to move forward.

If it is necessary to move the crane in the opposite direction, press the button SB7 33.

To activate the mechanism for moving the cart to the left, you must press the button SB8 34.

To activate the mechanism for moving the cart to the right, press the button SB9 35.

To activate the lifting mechanism, press the button SB3 29, for descent - button SB6 32.

To accelerate the mechanism in the set direction to the rated speed

necessary, without releasing the button SB3 29 or SB6 32, press the button SB5 31.

The sound signal is turned on at any time by pressing a button SB1 27.

If you need an emergency shutdown of the system, press the button SB2 28. To resume work - press and release the button SB1 27.

In case of temporary or final cessation of work, press the button SB2 28, and then turn off the key mark 11 of the control panel.

After all work is completed, the mains voltage must be disconnected from the tap.

When the battery of the control panel is discharged (the PWR 26 LED should blink), it is necessary to turn off the key mark 11, remove the battery and recharge it.

Industrial applicability

The proposed system has wide functionality, the best cost characteristics, increased reliability, good maintainability.

Two prototypes were manufactured, tests were carried out, confirming the claimed technical characteristics.

Claims (3)

1. A remote control system for hoisting cranes (CDS) comprising a control panel (PU), a control unit (CU) and an external antenna connected to the control unit, characterized in that the control panel includes an antenna WA1, an RF transceiver connected to an antenna WA1, logical node UL1, containing the microcontroller MK1 with the interface node BJ, connected through the interface node BJ with the RF transceiver using the first group of inputs / outputs, SVP power supervisor and software package PO1, a KB keyboard connected to the MK1 microcontroller through the second group of inputs and outputs, the soft starter power conversion unit, the output of which is connected to the input of the SVP microcontroller power supply supervisor MK1, the KM-mark, the output of which is connected to the input of the soft starter power conversion unit, the GB battery, the output of which is connected to the key input -Mark KM, the control unit (BU) contains the radio channel module MRK, containing an RF transceiver connected to the output of the control unit for connecting an external antenna WA2, a logical node UL2, containing a microcontroller MK2 with a node and BJ interface connected via the BJ interface node to the RF transceiver of the MRK radio channel module, and software package PO1, programmable logic integrated circuit FPGA, the first output and input of which are connected respectively to the second input and first output of the MK2 microcontroller, software package PO2, connected with the second FPGA input, the UGR galvanic isolation node, the input of which is connected to the second FPGA output, as well as the UKTS power circuit switching unit, the input of which is connected to the output of the galvanic node isolation of UGR, a switch of the PRR operating mode, the first input of which is connected to the output of the switching center of the power circuits of the UKTS, the second input is with the manual control output of the switchgear, and the two outputs are respectively with two inputs of the crane actuators. 2. The remote control system of hoisting cranes (SDU) according to claim 1, characterized in that the control panel contains a key mark, a PWR power indicator, a MODE mode indicator, a "START" button, a "STOP" button, a "Lift" button, a button “Crane forward”, “High speed” button, “Descent” button, “Crane back” button, “Trolley left” button, “Trolley right” button. 3. The remote control system for hoisting cranes (SDU) according to claim 1, characterized in that the external antenna is made in the form of a pin, a cylindrical tubular body, a base of insulating material and brackets with a bracket for attaching to tubular structures and a cable for connecting to the unit’s radio channel module management.