SU424802A1 - DEVICE FOR CONTROLLING SEPARATED HYDRAULIC DRIVES OF THE MOTOR CRANE MOVEMENT MACHINE - Google Patents

Description

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FIELD OF THE INVENTION The invention relates to a lifting and transport machinery, namely, devices for controlling separate hydraulic drives of the crane traveling mechanism.

Hydraulic drive control devices are known, comprising rotor windings of a resolver sensor connected to rotary windings of a selsyn receiver, each of which is installed on a kinematic feedback system pump located between the actuator engines and the selsyn receiver and a control stick.

However, in known devices it is impossible to synchronize the movement of hydraulic actuators of various sizes, as well as to ensure the specified deviation of the cargo rope from the vertical.

The purpose of the invention is to provide synchronization of the movement of hydraulic actuators of various sizes and to ensure the deviation of the cargo rope from the vertical of control.

For this, the kinematic feedback system is equipped with software templates of a non-identical profile, and the control knob is locked by means of a centering latch, coaxially with which a button with pump start control contacts is installed.

The drawing shows a schematic diagram of the proposed device.

The device consists ns selsyns-sensor 1, selsyn receivers 2 and 3, executive engines, made in the form of servomotors 4 and 5, and software patterns 6 and 7. Rotor

The sensor 1 is located on a single axis with a control handle 8 that sets the speed and direction of movement of the machine as a whole.

The rotor windings of the selsyn-sensor 1 are connected to the rotor windings of the selsin receivers 2 and 3, each of which is installed on its pump, and with semiconductor amplifiers 9 and 10. The stator windings of the selsyn sensor I and the sellers of the receivers 2 and 3 are connected in series and connected

from the transformer 11, from which also the excitation windings 12 and 13 of the servomotors 4 and 5, respectively, are fed. The windings 14 and 15 of the control are connected to amplifiers 9 and 10, respectively.

Between servomotors 4 and 5 p, respectively, sellers of receivers 2 and 3, there is a kinematic feedback, the system of which includes software patterns 6 and 7, located on the axis of the shaft of the control unit of the corresponding pump, roller roller 16

and 17, connected, for example, by levers with a shaft

the rotor of the corresponding.; nx selsnn-receivers 2 and 3.

The control knob 8 is made with a clamp, a fir-tree 18, coaxially with which a button 19 is located for closing the contacts connected with the excitation winding of the actuators of the drive motors of the pumps. The handle 8 has the ability to rotate by an angle ±: | 3 only after inserting the latch 18, while pressing the button 19.

After switching on the device to the network, all its nodes are supplied with power through transformer 11. In the initial position, the selsyns operate in the transformer mode and the error signal between the selsyn-sensor 1 and selsyns-receivers 2 and 3 is absent. Servomotors 4 and 5 do not rotate, since a large static holding braking moment develops on their shafts by applying voltage to the windings of the pool.

By pressing the latch 18, the handle 8 is released. At the same time, actuator motor starters are turned on via button 19, then the handle 8 is turned by an angle ± 3, which also rotates the rotor sensor 1, thereby causing an electrical error signal in the system 1 The selsynyne terminals 2 and 3. The error signal is amplified in amplifiers 9 and 10 and fed to the windings 14 and 15 of the control of servomotors 4 and 5. The latter begin to rotate and, through patterns 6 and 7 and rollers 16 and 17, reduce the error signal to zero. In this case, the rotors of the selsyn receivers 2 and 3 are rotated by an angle | 3 equal to the angle of rotation of the rotor of the selsyn-sensor 1.

The proposed device for controlling and synchronizing the movement of separate adjustable hydrostatic drives of load-lifting cranes ensures the equality of the speeds of the hydraulic motors at idle, regardless of differences in their speed characteristics or sizes. This is achieved by including in the feedback system between servomotors and selsyns-receivers of software patterns, thanks to which the crane operates with a pre-calculated limited skew force. With automated control and previously known tachogram, reduced masses of hydraulic motors and fluids in them, masses of progressively moving parts of the crane, weight of the load, height of its suspension, gaps in the drive kinematic chain, stiffness of the elements of the shaft lines, static resistance to movement of the crane, coefficient of viscous friction in hydraulic drives, the coefficient of resistance of the damping link of the crane shaft shafts, the execution of a profile of curves with these data provides the optimum coefficient dynamic or deviation of the load control crane hydraulics.

In addition, the execution of the control knob with the blocking of its rotation until the actuators of the hydraulic motors of the hydraulic actuator pumps are activated prevents the mechanical part of the hydraulic tracking system built into each pump from breaking.

Subject invention

A device for controlling separate hydraulic drives of a bridge crane moving mechanism, comprising rotary windings of a selsyn sensor connected to rotary windings of selsyn-receivers, each of which is installed on a kinematic brother system pump located between executive engines and selsyn receivers, and a control knob, characterized in that, in order to synchronize the movement of hydraulic actuators of various sizes and ensure the deviation of the load rope from the control vertical, The kinematic feedback system is equipped with software templates of a non-identical profile, and the adjustment knob is made blocking by means of a centering wedge-latch, coaxially with which a button with pump start control contacts is installed.