RU2622516C1 - Lifting mast device - Google Patents

Abstract

FIELD: construction.

SUBSTANCE: in lifting mast device (LMD), additionally introduced with appropriate links with other elements: a control station including: a power amplifier; a control unit, in which a control panel, acontroller module, a processing module (PM), a power keys unit (PKU), the first serial bus controller (SBC); the second serial bus controller (SBC), a tilt sensor (TS) mechanically connected to the body of the telescopic mast, the first transport position lock (FTP1); the second transport position lock (TPL2); a lifting height sensor (LHS) are additionally introduced; an instrument branch is additionally introduced in the power reducer of the lifting mast device, mechanically linking the lifting height sensor (LHS) shaft with the telescopic mast drive screw.

EFFECT: increasing the control convenience due to enabling the possibility of remote control and automation of performing the operations on deploying and folding the mast, and increasing the mast operation reliability.

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Description

The invention relates to lifting-mast devices (hereinafter - PMU), mainly to automatic deployment systems of lifting-mast devices of mobile antenna installations.

Known telescopic mast, equipped with a lifting mechanism with a gearbox (AS USSR No. 661297/26, 03/31/1960). According to the description, the mechanism for lifting and deploying the first mast is a manual mechanical actuator, which increases the readiness of the mast.

Known hydraulic drive mainly mobile antenna installation with a lifting mast (RF patent No. 2281244, 03/09/2005). However, according to the description, the drive mechanisms are hydraulic, and therefore, are quite complex and time-consuming to manufacture. The need to perform manual operations during the deployment of the system leads to an increase in the deployment time of the system and the risk of incorrect operator actions that can lead to an emergency.

Known ground transportation complex for the detection and recognition of objects (US Pat. No. 2352480, 07.24.2007). In a land vehicle, power systems and an optoelectronic system are mounted on a slewing ring mounted on a lifting mast, the device being placed in the stowed position inside the vehicle. The design of the PMU has two covers designed for airtight closing in the stowed and working position. The PMU is brought into working position with the help of an electric drive and belt drives of a special profile. The disadvantage of this solution is the small lift height (less than the height of the installation object), incomplete automation of the deployment process associated with the manual closure of the covers.

Known self-propelled installation with a lifting mast (US Pat. No. 2442098, 07/15/2010). According to the description, at least three pivotally connected lifting stages with rigid stops driven by a hydraulic cylinder are installed on a self-propelled chassis. Its disadvantage is the complexity of manufacturing the hydraulic system, the large volume occupied by the structure inside the chassis due to the parallel horizontal stacking of the steps when folded.

Known telescopic mast (US Pat. No. 2198131, 12/13/2000), equipped with a drive motor with a planetary gear and limit switches of the upper and lower positions of the mast, according to the signals of which the drive motor is switched off. This device is the closest analogue of the lifting-mast device and is taken as a prototype.

According to the description, the mast lifting and deployment mechanism is an electromechanical drive that provides a semi-automatic lifting mode with the participation of the operator with control of the limit positions of the telescopic mast by installing limit switches.

The block diagram of the lifting mast device of the prototype is shown in FIG. one.

The deployment of the mast is as follows.

The operator on the control unit 1 selects the telescopic mast deployment mode, and the drive motor 2 is turned on, which drives the telescopic mast 4 with the load 5 installed on it through the planetary gear 3, and when the telescopic mast starts moving, the transport position limit switch (KW) 6. The signal from (KW) 6 is supplied to the control unit 1 and turns off the corresponding indication of the transport position of the telescopic mast 4. When reaching the limit switch turned position (CWR) 7, an electric signal enters the control unit 1 and this signal turns off the drive motor 2, which through the planetary gear 3 stops the telescopic mast 4 with the load 5 installed on it in the unfolded position, while the corresponding control unit 1 turns on indication of the expanded position of the mast.

The mast is rolled up in the reverse order. The operator on the control unit 1 selects the telescopic mast winding mode, and the drive motor 2 is turned on, which drives the telescopic mast 4 with the load 5 installed through the planetary gear 3 and, when the telescopic mast begins to move, the extended position limit switch (CWR) 7. The signal from (CWR) 7 is supplied to the control unit 1 and turns off the corresponding indication of the expanded position of the telescopic mast 4. When the limit switch is reached, the conveyor position (KW) 6, an electric signal enters the control unit 1 and this signal turns off the drive motor 2, which through the planetary gear 3 stops the telescopic mast 4 with the load 5 installed on it in the transport position, while the corresponding control unit 1 turns on indication of the transport position of the mast.

The control unit 1 is connected to the +27 V system of the facility.

The disadvantages of the above lifting mast device of the prototype are:

- low mast reliability associated with the possibility of damage to the mast structure and electric drive when deploying the mast with a large deviation from the vertical or in case of failure of the end sensors;

- the lack of remote control of the process of deployment and coiling of the mast from the control system of the application.

The technical objectives of the claimed invention are:

- improving the convenience of management (providing remote control capabilities);

- automation of operations for the deployment and collapse of the mast;

- improving the reliability of the mast.

To solve the problems in a known lifting mast device, comprising: a control unit, a drive motor, a power reducer, a telescopic mast, a load, a trailer position switch (KW), a trailer position switch (CWR), according to the invention, the following are additionally introduced:

- control station, including:

• amplifier;

• control unit, in which additionally entered:

- control Panel;

- controller module;

- processing module (MO);

- power key block (BSK);

- the first serial bus controller (KPSh1);

- second serial bus controller (KPSH2),

- tilt sensor (DN), mechanically connected to the mast of the telescopic mast;

- the first position of the transport position (FTP1);

- the lock of the transport position of the second (FTP);

- lift height sensor (DVP),

at the same time, an instrument branch is additionally introduced into the power reducer of the lifting-mast device, mechanically linking the shaft of the lift height sensor (DVP) with the drive screw of the telescopic mast,

moreover, the control panel included in the control unit is electrically connected to the controller module, which, in turn, is electrically connected to the power key unit (BSK), the processing module (MO), the serial bus controller first (KPSH1), the serial bus controller second (KPSH2),

the power key unit (BSK) is electrically connected to the first position of the transport position lock (FTP1) and the second position of transport lock (FTP2), which, on the one hand, are mechanically connected to the mast body of the mast, on the other hand, with the load, providing it with mechanical fixing in the transport position of the telescopic mast,

moreover, the second serial bus controller (KPSH2), for example via a CAN-type channel, and the processing module (MO) of the control unit are electrically connected respectively to the telescopic mast tilt sensor (DN) and the telescopic mast lift height sensor (FIR),

in this case, on the one hand, the serial bus controller first (KPSh1) of the control unit, for example, via a CAN-type channel is electrically connected to external devices, and the control unit and the power amplifier of the control station are connected to the +27 V system of the facility,

on the other hand, the control unit, through its own controller module, is electrically connected to a power amplifier rotating the drive motor shaft, which through the power reducer provides for raising and lowering the telescopic mast to the position set by external devices, the control panel and the height sensor, while the transport position limit switch (КВТ) and limit switch of expanded position (КВР), on the one hand, are mechanically connected with the mast body of the telescopic and, on the other hand, ctrically connected to the controller module of the control unit,

in turn, the power amplifier is electrically connected to the controller module of the control unit by signals of current feedback (OST) and speed (OSS) of the drive motor.

Comparative analysis with the prototype shows that new components have been introduced into the inventive lifting mast device, namely:

- control station, including:

• amplifier;

• control unit, in which additionally entered:

- control Panel;

- controller module;

- processing module (MO);

- power key block (BSK);

- the first serial bus controller (KPSh1);

- second serial bus controller (KPSH2),

- tilt sensor (DN), mechanically connected to the mast of the telescopic mast;

- the first position of the transport position (FTP1);

- the lock of the transport position of the second (FTP);

- lift height sensor (DVP),

An additional instrument branch is introduced into the power reducer of the lifting mast, mechanically linking the shaft of the lift height sensor (DVP) to the drive screw of the telescopic mast.

A comparison of the proposed solutions with other technical solutions shows that the newly introduced elements are quite well known in the art, but their introduction in this connection into the inventive lifting-mast device (PMU) allows you to:

- manage the process of deploying PMU through external devices from the control system of the installation object due to the presence of a serial CAN-type communication channel;

- automate the folding and deployment of PMU due to the presence of a controller module, with a given algorithm of work;

- increase the reliability of the PMU due to:

- self-diagnosis of malfunctions when turning on the PMU,

- duplicated control of the telescopic mast lifting height due to the use of trailer switches of the transport and working position and the lifting height sensor,

- the presence of feedbacks on the current and speed of the drive motor and information from the lift height sensor, allowing algorithmically limit the current of the drive motor in the event of malfunctions in the mechanisms,

- the presence of a tilt sensor and algorithms for blocking the process of deploying a telescopic mast when exceeding the deviation of the mast body from a vertical position above a predetermined value.

The device and operation of the claimed invention is illustrated by drawings.

In FIG. 1 shows a structural diagram of a lifting mast device of the prototype.

In FIG. 2 presents the appearance of the claimed lifting mast device.

In FIG. 3 shows a structural diagram of the inventive lifting mast device.

Abbreviations adopted in the text and in FIG. 1 and FIG. 3:

BSK - power key block;

Fiberboard - lift height sensor;

DN - tilt sensor;

KVR - limit switch of the expanded position of the telescopic mast;

KVT - limit switch of the transport position of the telescopic mast;

KPSh1 - the first serial bus controller;

KPSh2 - second serial bus controller;

MO - processing module;

OSS - feedback on the speed of the drive motor;

OST - current feedback of the drive motor;

PMU - lifting mast device;

SU - control signal;

FTP1 - the first position of the transport position;

FTP2 - the second position of the transport position;

PWM - pulse width modulation.

The lifting-mast device consists of the following elements: control station 1, a telescopic multi-stage mast 2 with a payload 3 installed on it. The load in the transport position is rigidly fixed to the body of the installation with the help of the transport position locks (FTP1) 4 and (FTP2) 5. The latches of the transport position (FTP) 4 and (FTP 2) 5 are equipped with limit switches, forming a signal to the control station. The mast is deployed using a drive motor 6 and gear 7. The gearbox has a second instrument branch, one turn of the output shaft of which corresponds to the full telescopic mast lifting height, to which a lifting height sensor (DVP) 8 is connected, which is a sensor that measures the angle of rotation by means of which the telescopic mast lifting height is controlled. To increase the reliability of monitoring the deployment, there are trailer switches for transport position (КВТ) 9 and deployed position (КВР) 10, which give a signal to the control station about two extreme positions of the telescopic mast. Also, a tilt sensor (BH) 11 is installed on the mast body, which provides a signal about the tilt angles of the roll and pitch via a CAN-type serial interface to the control station.

The control station consists of a control unit 12 and a power amplifier 13. The controller module 14 receives commands from the control panel 15 or from external devices 16 from the control system of the installation object via the serial bus controller first (KPSh1) 17 via a CAN-type serial interface. The controller module 14 controls the power amplifier 13 by a control signal (CS), receives current feedback (OST) and rotation speed (OSS) signals from the drive motor 6, and outputs signals through the power key block (BSK) 18 to the transport position locks (FTP1) 4 and (FTP2) 5, receives a signal from a tilt sensor (DN) 11 via a CAN-type serial interface through a second serial bus controller (KPSh2) 19, receives a signal from a lift height sensor (DVP) 8 through a processing module (MO) twenty.

Lifting-mast device operates as follows.

When power is applied, the control software is launched in the controller module 14 and all devices connected to it are checked according to the specified algorithm. In the case of a successful check, the system enters a state of readiness for work. The process of exchanging information with external devices 16 of the application is started.

When a control command is received from the control panel 15 or from external devices 16 through the first bus controller (KPSh1) 17 in the controller module 14, the signal of the tilt sensor (DN) 11 received through the second bus controller (KPSh2) 19 is analyzed if the mast deviation from the vertical is within acceptable limits, then the corresponding command is generated and through the power key block (BSK) 18, a signal is generated to translate the mast transport position locks (FTP1) 4 and (FTP2) 5 to the working position Eden.

After transferring the latches (FTP) 4 and (FTP 2) 5 to the operating position in the controller module 14, a control signal (SU) of the power amplifier 13 is formed taking into account the current feedback signals (OST) and the rotation speed (OSS) of the rotation of the drive motor 6 and data from lift height sensor (DVP) 8.

The control signal (CS) for the power amplifier 13 is formed in such a way that the deployment speed and the height of the telescopic mast 2 are simultaneously controlled. The telescopic mast 2 is lifted at a predetermined height by a signal from the lift height sensor (MDF) 8 through the processing module ( MO) 20, or from the limit switch of the expanded position of the telescopic mast (CWR) 10 directly to the controller module 14. At the end of the process of transferring the telescopic mast 2 to the working position in the con the troller 14 is formed the corresponding message to external devices 16 through the controller of the serial bus first (KPSh1) 17 and to the control panel 15 of the control unit 12.

The transfer of the mast device to the transport position is carried out in the reverse order.

When a control command is received to transfer the telescopic mast 2 to the transport position from the control panel 15 or from external devices 16 through the first bus controller (KPSh1) 17, a control signal (CS) of the power amplifier 13 is formed in the controller module 14 taking into account the current feedback signals (OST) and speed (OSS) of rotation of the drive motor 6 and data from the lift height sensor (MDF) 8.

The control signal (SU) for the power amplifier 13 is formed in such a way that the speed is controlled taking into account the height of the telescopic mast 2. The telescopic mast 2 is moved to the transport position at a given height according to the signal from the lift height sensor (DVP) 8 through processing module (MO) 20 or from the limit switch of the transport position of the telescopic mast (KW) 9 directly to the controller module 14.

After transferring the telescopic mast 2 to the transport position, a command is generated in the controller module 14 and a signal is generated in the power key unit (BSK) 18 to translate the mast transport position locks (FTP1) 4 and (FTP2) 5 into the transport position. At the end of the process of transferring the latches to the transport position, a corresponding signal is transmitted to the controller module 14, which generates a message about the end of the process of transferring the telescopic mast 2 to the transport position to external devices 16 through the first bus controller (KPSh1) 17 and to the control panel 15 of the control unit 12 .

In order to exclude peak and shock loads on the mechanical elements of the drive and increase the smoothness of operations, the control signal for the mast lifting drive is generated with speed and acceleration restrictions depending on the weight of the installed load, which significantly increases the reliability of the system as a whole.

In the process of lifting the telescopic mast 2 in the power amplifier 13, signals are generated proportional to the current (OST) and speed (OSS) of the drive motor 6, according to which in the module of the controller 14 of the control unit 12 there is a continuous analysis of the presence of emergency situations in the mechanisms for changes in current and speed rotation of the drive motor 6.

In the process of lifting the telescopic mast 2, a continuous analysis of the deviation of the lifting mast from the vertical position is carried out according to the data received from the inclination sensor 11 along two mutually perpendicular axes of inclination of the roll and pitch. If the limit value of the slope is exceeded, the system stops the operation of lifting the mast of the telescopic 2 and gives a message not to the control panel 15 and to external devices 16 through the serial bus controller to the first (KPSh1) 17 operator.

By commands from the control panel 15 or from external devices 16 through the serial bus controller, the first (KPSh1) 17 system operation can be stopped in any position. It is also possible to transfer to any position of the system at any height according to the appropriate control commands.

Separate new elements of the proposed PMU are implemented as part of the software of the controller module of the control unit, while the processing of the received and transmitted data is carried out by modules such as modules of analog-to-digital conversion (OST) and (OSS) and digital-to-analog conversion (SU), the module for calculating the rotation angle (MO) of a position sensor (FWD) and modules of signal conditioners of a serial bus of CAN type (KPSH1) and (KPSH2).

The output stage of the power amplifier can be performed according to a bridge circuit built on transistor assemblies controlled in pulse-width modulation (PWM) mode.

(See the book edited by Bogner R. and Konstantinidis A. “Introduction to Digital Filtering.” Transl. From English. - M.: Mir, 1976).

(See the book by Horowitz P., Hill W. “The Art of Circuit Engineering.” Transl. From English - 4th ed. Revised and enlarged. - M.: Mir, 1993).

(See the book Voytitsky S.A., Voytitskaya G.N. An analog-to-digital signal converter for a sine-cosine rotary transformer in a rotary support device of a small-sized ground-based radar // Bulletin of Tula State University. Ser. Control systems. 2010. Issue. one).

(See Oppenheim A., Schafer R. Digital Signal Processing. M: Technosphere, 2006. 856 pp.).

Thus, the inventive hoisting mast device allows:

- manage the deployment process through external devices from the control system of the installation object due to the presence of a serial CAN-type communication channel;

- automate the folding and deployment of PMU due to the presence of a controller module with a given algorithm of work;

- increase the reliability of the PMU due to:

- self-diagnosis of malfunctions when turning on the PMU,

- duplicated control of the telescopic mast lifting height due to the use of trailer switches of the transport and working position and the lifting height sensor,

- the presence of feedbacks on the current and speed of the drive motor and information from the lift height sensor, allowing algorithmically limit the current of the drive motor in the event of malfunctions in the mechanisms,

- the presence of a tilt sensor and algorithms for blocking the process of deploying a telescopic mast when exceeding the deviation of the mast body from a vertical position above a predetermined value.

The technical advantages presented in the description, the feasibility and reliability of the PMU, implemented according to the claimed structural scheme, are confirmed by tests of the prototype PMU at the testing base of OJSC SKB PA, OJSC KEMZ of Kovrov and as part of the facility at JSC NPP Rubin of Penza.

Claims (1)

A lifting mast device comprising a control unit, a drive motor, a power reducer, a telescopic mast, a load, a transport limit switch, an extended position switch, characterized in that an inclination sensor is inserted into it mechanically connected to the telescopic mast body, a transport position lock first, transport lock second, lift height sensor, control station, including a power amplifier, control unit, in which A control panel, a controller module, a processing module, a power key block, a serial bus controller first, a serial bus controller second, and an instrument branch mechanically linking the shaft of the height sensor with the drive screw of the telescopic mast have been added to the power reducer of the lifting mast moreover, the control panel, which is part of the control unit, is electrically connected to the controller module, which, in turn, is electrically connected to the power key unit, m the processing muzzle, the serial bus controller first, the serial bus controller second, while the power key unit is electrically connected to the transport position lock first and the transport position lock second, which, on the one hand, are mechanically connected to the mast body of the telescopic, on the other hand, with a load ensuring its mechanical fixation in the transport position of the telescopic mast, the second serial bus controller and the processing module of the control unit electrically are connected respectively with a telescopic mast tilt sensor and a telescopic mast lift height sensor, while, on the one hand, the serial bus controller of the first control unit is electrically connected to external devices, and the control unit and power amplifier of the control station are connected to the +27 V system of the facility, with on the other hand, the control unit, through its own controller module, is electrically connected to a power amplifier that rotates the shaft of the drive electric motor, which through the power reducer provides lifting m and lowering the telescopic mast to the position set by external devices, the control panel and the height sensor, while the transport limit switch and the expanded position limit switch, on the one hand, are mechanically connected to the telescopic mast body and, on the other hand, are electrically connected to the module the controller of the control unit, in turn, the power amplifier is electrically connected to the controller module of the control unit according to feedback signals of current and speed of the drive electro engine.

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