RU2262481C2 - Load-lifting crane safeguard adjustment method - Google Patents

Abstract

FIELD: materials handling equipment.

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

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

6 cl, 2 dwg

Description

The invention relates to mechanical engineering and can be used in systems of protection against overloads and damage to jib cranes and pipe cranes.

A known method of adjusting the load limiter (safety device) of a jib crane by raising the limit inventory loads at the initial and final outreach of the boom and sequentially equalizing the signals proportional to the maximum inventory load and the estimated load at the mentioned departures, fixing the signals at the initial departure, proportional to the maximum inventory and calculated load , and when equalizing signals at the initial departure, replacing signals proportional to the marginal inventory and design cargoes to the indicated fixed signals [1].

The disadvantage of this method is the need for multiple lifting of loads during initial and final departures, which leads to a large complexity of settings.

There is also a method of adjusting the load moment by two control measurements of the crane's load capacity in two extreme positions of its boom, setting the first and second adjustment weights on a common vertical during the first measurement by changing their angular positions, fixing these angular positions relative to the longitudinal axis of the lever, moving along the lever in the calculated position of the first load together with the second and the adjustment of the spring force until the limit switch trips, as well as rectilinear movement, during the second measure, the second load relative to the first to re-operate the limit switch, and fixing the second load relative to the first [2].

This technical solution provides a more accurate correspondence of the shutdown characteristics of the safety device to the load characteristics of the crane. However, due to the large number of mechanical adjustments, the complexity of setting up the safety device on the crane remains high.

There is also a method of adjusting the safety device of a crane by lifting calibrated loads of a given mass at two points of the crane's cargo characteristic (with minimum and maximum reach) and mechanically adjusting the position of the load and departure sensors to ensure that the safety device’s shutdown characteristics correspond to the specified crane crane load [3 ].

The disadvantage of this technical solution is the high complexity of setting up the safety device on the crane due to the large number of mechanical adjustments. In addition, the replacement of any component of the safety device due to unavoidable errors during its installation requires reconfiguration, i.e. interchangeability of safety device components is not ensured.

The most advanced and closest to the proposed one is the method for setting up a crane safety device implemented in an ONK-140 type safety device by lifting a tared load of a given mass at points of a load characteristic with known parameters of the boom equipment (boom length, boom angle of reach or reach), as well as regulation of signals in the channels for measuring the load and departure (boom angle) from the condition of ensuring compliance of the disconnection characteristics of the safety device with the specified load the crane’s characteristic, moreover, the signals in the load measurement channels are regulated by potentiometers, and the signal in the departure measurement channel (boom angle) is controlled by mechanical adjustment of the angular position of the boom angle sensor [4].

The disadvantage of this prototype method is the high complexity of setting up a safety device on the crane due to the presence of mechanical adjustments of the sensors. In this case, the regulation of signals in the channels for measuring the load with potentiometers leads to an additional complication of the adjustments, since additionally there is a need to open the protective covers, violation of the sealing of the electronic unit, etc.

In addition, the interchangeability of the components of the safety device is not ensured. For example, when replacing the sensor for the angular position of the boom, it is automatically necessary to adjust the safety device, since due to the presence of adjustment grooves in the attachment points, it is not possible to install a new sensor in the same angular position. And when changing the electronic unit (data processing unit), it is also necessary to carry out the adjustment again, since the tuning potentiometers are located in this unit.

A disadvantage of the known method is the inability to configure (bind) the safety device on any type of crane with the arbitrary installation of a sensor (s) in the load measurement channel. If, for example, the safety device is designed to install a load measurement sensor in the jib cable, then in the case of transferring this sensor to the cargo cable, it will not be possible to configure the safety device, since in this case the program of the electronic unit (data processing unit) needs to be changed.

The tasks to which the proposed technical solution is directed are:

- reducing the complexity of setting up a safety device on a crane due to the exclusion of mechanical adjustments;

- ensuring the interchangeability of the components of the safety device, taking into account the inaccuracy of their installation on the crane;

- ensuring the configuration (binding) of the safety device on any type of crane with arbitrary installation of the sensor (s) in the channel for measuring the load.

In the proposed method of adjusting the safety device of a crane by lifting a tared load of a given mass at points of the load characteristic with known parameters of the boom equipment (boom length, tilt angle and (or) boom reach), regulating signals in the channels for measuring load, reach and (or) angle tilt of the boom from the condition of ensuring compliance of the shutdown characteristics of the safety device with the specified load characteristic of the crane the goal is achieved by the fact that the specified regulation signal The s are carried out by adding them to the tuning parameters and (or) multiplying by the tuning parameters, the values of which are previously determined and stored in the non-volatile memory of the safety device. At the same time, the tuning parameters can be represented as functions of the crane's boom equipment parameters, for example, departure, and stored in at least two components of the safety device, and after replacing each component of the safety device, overwrite the replaced part from the non-replaced one. The values of the tuning parameters can also be read out simultaneously with reading the data of the built-in registrar of parameters of the safety device for their subsequent recording in the non-volatile memory of the replaced safety device components.

Regarding the setting (binding) of the safety device on any type of crane with arbitrary installation of the load measurement sensor, the goal is also achieved by the fact that when lifting a tared load of a given mass, the increment of the output signal of the load measuring channel is detected, and then the value of the output signal of the load measuring channel is determined, corresponding to the shutdown of the crane, by multiplying this increment by the ratio of the maximum lifting capacity of the crane at a given point of the load characteristic with GOVERNMENTAL parameters equipment boom to the weight of said load and a torque summation, if necessary, load measuring channel output signal at the zero weight of the lifted load. In this case, the value of the output signal of the load measuring channel corresponding to the shutdown of the crane at various points of the crane's cargo characteristic is obtained by approximating the values of this signal obtained at the points of the cargo characteristic with known parameters of the crane boom equipment.

Figure 1 shows the geometric dimensions of a crane (pipe-laying crane), and figure 2 shows the functional dependencies that explain the essence of the proposed configuration method.

A device for implementing the proposed tuning method is a microprocessor safety device for a crane (without any additional devices). The device contains a microprocessor electronic unit (data processing unit, display unit, etc.), an executive unit, and sensors for operating parameters of the crane. The electronic unit can be made in the form of a digital computer and connected to it controls, indicators, a memory unit and an information input-output device, which is connected to the inputs of the executive unit and to the sensors of operating parameters.

Each of the sensors of the operating parameters (inclination angle, boom length, force or pressure, azimuth, etc.) contains a sensing element (primary transducer) connected in series, a conversion circuit of the output signal of the primary transducer, a microcontroller with integrated non-volatile memory (EEPROM), and interface circuit. Connections of sensors of operating parameters with the electronic unit can be performed according to the radial scheme using separate wires or via a multiplex communication line. In the latter case, the interface circuits of the operating parameter sensors are based on the drivers or controllers of the corresponding communication line - CAN, LIN, etc.

The principle of operation of the safety device of the crane is known, described, in particular, in [4], in the application RU 2002109339 A, B 66 C 15/00, 12/10/2002 and in this application is considered only in that part, which concerns the explanation of the essence of the proposed method of adjustment .

Consider the essence of the proposed method by the example of setting up a safety device on a pipe-laying crane. On other types of hoisting cranes, the adjustment is carried out in a similar way, taking into account the features associated with the design of a particular crane.

The boom angle sensor, based on the output signal of which the outreach R is determined, is installed on the boom of the pipe-laying crane. Assume that the boom has an angle of inclination relative to the horizon α. This sensor is usually mounted on fasteners, such as booms welded to the boom. Due to the error of mounting (welding) of the fastening elements Δα, the actual value of the output signal of the boom angle sensor will not be α, but (α + Δα).

From figure 1 it follows that the departure of R and the maximum height of the hook H are determined by the expressions:

H = Lstr * Sin (α + Δα) + Nsh-Nkr,

where R is the departure of the hook;

H is the maximum height of the hook;

Lstr is the distance from the axis of attachment of the boom to the pipe layer to the head of the boom;

α is the angle of the boom;

Δα is the error of installation of the boom angle sensor;

Lш is the distance from the axis of attachment of the boom to the pipe layer to the tipping rib;

Нш - the distance from the axis of attachment of the boom to the pipe layer to the surface of the earth;

Nkr - the distance from the axis of attachment of the suspension unit of the pulley system to the center of the hook.

For the microprocessor electronic unit (data processing unit, display unit, etc.) to calculate the value of the reach R and the maximum lifting height of hook B, the following parameters are needed: Lst, Lш, Нш, Нкр, α and Δα.

In accordance with the proposed tuning method, the geometric dimensions Lst, Lш, Нш and Нкр are preliminarily determined, for example, by the passport characteristics of the pipe-laying crane or are measured, for example, by a tape measure and stored in the non-volatile memory of the microprocessor unit. The value of α is the output signal of the boom angle sensor.

Therefore, to configure the safety device, it is necessary to determine and save in the non-volatile memory the tuning parameter Δα - the error of installation of the boom tilt sensor.

From the expression (1) it follows that

Δα = Arccos [(R-Lш) / Lstr] -α.

Therefore, in the process of setting up the safety device directly on the crane (on the pipe-laying crane), the offset R is measured using a tape measure or range finder, the electronic unit switches to the setting mode, the measured value of the departure R is entered into the electronic unit from the controls (keyboards) included in it or by overwriting from the memory of the electronic rangefinder. Further, the electronic unit, working according to the program embedded in its memory, calculates the Δα value according to dependence (2) and stores it in the non-volatile memory of the safety device.

In the case when the inclination angle sensor has a deviation in the transmission coefficient (in sensitivity) or is installed in such a way that measures an incomplete value of the angle of inclination of the boom, expression (1) in the part of the departure definition takes the form

where K is an unknown parameter that needs to be determined during the configuration process.

To determine it, the departure measurement is carried out at two different boom angles. The data obtained for various departures are substituted into equation (3), resulting in a system of two equations with two unknowns: K and + Δα. The microprocessor electronic unit solves this system of equations by known methods and obtains the values of the tuning parameters K and Δα, which are stored in non-volatile memory and are used in subsequent calculations.

If the load measurement channel is already configured, then the setup of the safety device ends. The microprocessor electronic unit after switching from the setting mode to the operating mode, using the Δα value (and, if necessary, the value of the parameter K) predefined and stored in non-volatile memory, determines by the formula (1) (or (3)) the actual value of the departure R and then checks the absence of the crane overload with the calculated departure value by comparing the current load value with the maximum allowable according to the crane load characteristic.

If the load measurement channel is not configured, then first, according to the described procedure, the departure channel R is configured. And then, when the departure values R are known, i.e. are calculated by the formula (1) or (3) for all values of the boom angle (with known parameters of the boom equipment), the channel for measuring the load is configured. In accordance with the proposed method, this is done as follows.

The cargo characteristic of the crane is represented by the dependence of the maximum load F _MAX on the departure of R (see figure 2). When the departure of R from the minimum R _MIN to the maximum R _MAX value changes, the value of F _MAX decreases according to a certain dependence given in the valve passport. This dependence is previously stored in the memory of the microprocessor electronic unit of the safety device in manual mode (its controls) or when programming microcircuits (microcontroller or memory chips). If necessary, in manual or automated modes, individual points of the cargo characteristic are introduced and their approximation is carried out in the microprocessor electronic unit.

In the proposed technical solution, an arbitrary installation of the load sensor is allowed - in the boom rope, in the cargo rope, in the boom hinge, etc. Moreover, as a load sensor, a force sensor, a pressure sensor, or a combination of force and pressure sensors with various weighting factors (for example, pressure sensors in the rod and piston cavities of the crane boom lifting hydraulic cylinder) can be used. Accordingly, when the departure changes, the value of the output signal of the sensor (channel) of the load measurement will change according to some dependence. Without load on the hook, taking into account the dead weight of the boom equipment, this dependence has, for example, the form shown in figure 2 of the curve F ₀ . This dependence can be increasing, decreasing, etc., which when using the proposed method does not matter.

When lifting the calibrated load of a given mass m _{01, the} load on the sensor increases and the dependence of its output signal on the departure R takes the form shown in figure 2, F ₁ .

Accordingly, the increment of the output signal of the load measuring channel when lifting a tared load of a given mass m ₀₁ at points of the load characteristic with known parameters of the boom equipment has the form

Obviously, with the fixed position of the crane boom equipment, the dependence of the increment ΔF on the weight of the tared load is linear. Therefore, the value of the output signal of the load F, corresponding to the maximum load F _MAX , is a function of the departure F = F (R) and is determined by the dependence

In the particular case when, for example, the load sensor is installed in the cargo cable, and in the absence of the load to be lifted, the sensor is not loaded, the value of F ₀ is zero (F ₀ = 0). Those. summing the output signal of the load measurement channel at zero mass of the load to be lifted is carried out only if necessary.

To increase the accuracy of adjustment for small departures, lifting of a tared cargo of increased mass m ₀₂ can be used. In this case, the dependence of the sensor output signal on the take-off R takes the form shown in FIG. 2, F ₂ , and in the formula (5) not mass m _{01 is used} , but mass m ₀₂ . Otherwise, the setup procedure and the calculations performed remain the same.

From the formula (5), the essence of the proposed method in terms of setting the load measurement channel and the tuning algorithm are clear - sequentially changing the position of the boom equipment in the range from the minimum reach R _MIN to the maximum R _MAX , the dependences of the parameters F ₀ and ΔF in form of departure functions R. This can be done both with a continuous change in departure and at fixed points with subsequent approximation of the obtained values at intermediate points of the cargo characteristic cr on. In this case, recording to non-volatile memory can be carried out automatically (when the safety device is in the setup mode), for example, with a certain period, or by pressing the control buttons (bodies) on the microprocessor electronic unit.

Further, when all values of the tuning coefficients (parameters) Δα, F ₀ (R), ΔF (R) and F _MAX (R) are determined and stored in the non-volatile memory of the safety device, the microprocessor electronic unit, working according to the program, according to the dependencies (1) and (5) calculates the offset R, as well as the value of the output signal of the load measurement sensor (channel) F (R), corresponding to the maximum load F _MAX for a given offset R. After that, the microprocessor electronic unit compares the current value of the output signal of the channel (sensor) load F _O with computation nym value F (R), enables the crane or carries its overload shutdown.

In this case, the adjustment is carried out without mechanical adjustment of any tuning elements, which significantly reduces the complexity of setting up the safety device.

Sensors operating parameters can be performed with calibrated installation dimensions. However, it is almost impossible to identically perform the elements of their fastening on the crane. Therefore, the resulting tuning parameters (for example, Δα) on different cranes will be different. Therefore, if the tuning parameters are stored in the microprocessor electronic unit, then when replacing this block, the tuning parameters are lost and you have to configure the safety device on the tap again. If the tuning parameters are stored in the non-volatile memory (in the EEPROM) of the microcontrollers of the operating parameter sensors, then in the same way, when replacing the sensors, you also have to re-configure the safety device. Those. in any case, the interchangeability of the components of the safety device is not ensured.

To achieve this goal in terms of ensuring the interchangeability of the components of the safety device in the proposed method, the same tuning parameters are additionally recorded in the non-volatile memory of at least two components of the safety device at the same time, for example, as in a boom angle sensor (in a force sensor, in the azimuth sensor, etc.), and in the microprocessor electronic unit. In this case, after replacing each component of the safety device, the tuning parameters are read into it, which are read from the unchanged component. In the initial state of all components of the safety device (when first installed on a crane), the contents of their non-volatile memory (EEPROM), in which the tuning parameters are to be stored, is set, for example, to zero. After calculating the tuning parameter, for example, Δα, this parameter is written to the non-volatile permanent memory of the microprocessor electronic unit. After that, the microprocessor electronic unit connected to the angle sensor via a multiplex communication line or separate wires transmits the value of the parameter Δα to the microcontroller of the boom angle sensor, which is stored in its EEPROM. This transfer can be carried out automatically after writing the tuning parameter to the microprocessor electronic unit. The specific format for transmitting this parameter over the communication line is determined by the specification of the used communication interface of the microprocessor electronic unit with CAN, LIN sensors, etc. and does not matter. The sensor microcontroller, having received the tuning parameter, working according to the program, saves this parameter in its non-volatile memory (EEPROM).

Thus, duplication of recording and saving of tuning parameters is carried out in various components of the safety device. Moreover, this duplication applies not only to the parameter Δα, but also to all tuning parameters, including those that are presented as a function of the parameters of the boom equipment (boom reach, etc.), for example, the parameters F ₀ (R), ΔF (R) etc. Moreover, what tuning parameters are stored in which components of the safety device does not matter and can be arbitrarily selected. All that matters is that each tuning parameter is stored in at least two parts of the safety device.

When the power supply is turned on for the first time or by a special command manually from the controls of the microprocessor electronic unit, this unit reads and compares the tuning parameters from all components of the safety device. If at the same time it turns out that in some component part there is no record of tuning parameters (the data has a zero value), then the microprocessor electronic unit automatically records them.

As a result, when replacing any component of the safety device, the value of the tuning parameters is saved. This ensures the achievement of the goal, namely the interchangeability of all components of the safety device.

In the event that in this design of the safety device there is no technical possibility of storing the tuning parameters in its several components, the tuning parameters are recorded and stored only in the microprocessor electronic unit. In this case, according to the proposed method, the tuning parameters are read simultaneously with the data of the built-in recorder of the safety device parameters (the features of the device and the operation of the parameter registrar are determined by the requirements of RD 10-399-01 of the State Technical Supervision Service of Russia).

After reading the settings, they are written to the non-volatile memory of the replaceable component of the safety device before it is installed on the crane. This recording is carried out manually (from the controls of the microprocessor electronic unit) or when programming microcircuits (microcontroller or memory chips) before installing the replaceable component of the safety device on the tap. In this case, the setting of the safety device on the crane is not required, which also ensures the achievement of the goal - the interchangeability of all components of the safety device.

In view of the foregoing, the implementation of the distinguishing features of the claimed technical solution is to reduce the complexity of setting up the safety device on a crane, ensuring the interchangeability of all its components, as well as the ability to configure (link) the safety device on any type of crane with an arbitrary installation of a load sensor.

Sources of information

1. USSR author's certificate No. 592721, IPC2 B 66 C 15/06, 02.15.1978.

2. Patent of Russia RU 2053192 C1, IPC6 B 66 C 23/90, 01/27/1996.

3. Sushinsky V.A., Mash D.M., Shishkov N.A. Safety devices for hoisting cranes. Part 1. - M .: Center for Educational and Information Technologies, 1996, p. 17.

4. Crane load limiter ONK-140. Installation, commissioning and regulation instructions. LGFI. 408844.009 IM. - Arzamas: OJSC "Arzamas Instrument-Making Plant", 2002. - 24 p.

Claims (6)

1. The way to configure the safety device of a crane by lifting a tared load of a given mass at points of the load characteristic with known parameters of the boom equipment, regulating the signals in the channels for measuring the load, reach and / or angle of the boom from the condition of ensuring that the safety device's shut-off characteristic matches the specified crane load characteristic , characterized in that in the process of regulating the signals in the channels for measuring the load, departure and / or angle of the boom angle of the output dnyh signals of the respective sensors remain unchanged, and the said regulation is carried out by addition and / or multiplication of output signals from the sensor signals corresponding configuration parameters whose values are pre-determined and stored in the nonvolatile memory of the security device. 2. The method according to claim 1, characterized in that the values of the tuning parameters are stored in the non-volatile memory of the safety device in the form of functions of the parameters of the boom equipment. 3. The method according to claim 1, characterized in that the values of the tuning parameters are stored in at least two parts of the safety device, and after replacing each component, the tuning parameters are read into it, which are read from the unchanged component of the safety device. 4. The method according to claim 1, characterized in that the values of the tuning parameters are read simultaneously with the reading of the data of the built-in registrar of parameters of the safety device. 5. The method according to claim 1, characterized in that when lifting a tared load of a given mass, an increase in the output signal of the load measuring channel is detected in comparison with the output signal at zero mass of the load to be lifted, after which the value of the output signal of the load measuring channel corresponding to the shutdown of the crane is determined, by multiplying this increment by the ratio of the maximum lifting capacity of the crane at a given point of the load characteristic with the known parameters of the boom equipment to the mass of the specified tared weight link and sum if necessary with the output signal of the channel for measuring the load at zero mass of the lifted load. 6. The method according to claim 1, characterized in that the value of the output signal of the load measuring channel corresponding to the shutdown of the crane at various points of the cargo characteristics of the crane is obtained by approximating the values of this signal obtained at points of the cargo characteristics with known parameters of the crane jib equipment.

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