SU698901A1 - Apparatus for controlling group of cranes - Google Patents

Description

(54) A CRANE GROUP CONTROL DEVICE by the third inputs of the second and third AND circuits, the output of the third AND circuit is connected to the second input of the OR circuit, and the outputs of the first and second OR circuit are connected to the engine starting unit of the valve mechanics. FIG. 1 is a block diagram of the device; in fig. 2 - a general view of the fine stop sensors; in fig. 3 is a section A-A in FIG. 2. The control unit of the crane group contains a control panel 1 connected to block 2 of the program,) which is connected with sensors 3 to 3 positions of the crane mechanisms and block 4 to turn on the motors of the crane mechanisms, as well as the exact stop blocks 5. Precise stop unit 5 is equipped with precision stop sensors 6 and 7, line 8, memory elements 9, 10 and delays 11, 12, circuits AND 13,, circuits OR 16, 17, 18, circuits ILINE 19 and 20. First output 21 unit 2 is connected to the inputs 22 and 23 of the elements 9 and 1O. The output of circuit 19 through element 11 co & dinH with inputs 24, 25 26 of circuit 13, 14,15, you} soda circuit 13 through the second delay element 12 is connected to block 2, E whose output 27 is connected to second inputs 28 and 29 9 and 10, the second input 30 of the circuit 19 and the input 31 of the second circuit LLI 17, the second input 32 of which is connected to the output 33 of the second circuit AND 14. The sensor 6 is connected to the inputs 34 and 35. the third circuit OR 18, the second circuit OR-NOT 20 .and with the third inputs 36 and 37 of the elements 9 and 1O, the outputs 38 and 39 of which are connected respectively to the second inputs-40 and 41 of the third and second circuits And 14 and 15, and the second sensor 7 is connected to about the second inputs 42 and 43 of the third circuit 1LI, the second circuit OR-NOT 2O and the fourth inputs 44 and 45 of the elements 9 and 1O, Output 46 of the second circuit OR-NOT 20 is connected to the third inputs 47 and 48 of the second and third circuits And 14 and 15, the output 49 of the third circuit AND 15 is connected to the second input 50 of the circuit OR 16, and the outputs 51, 52 of the first and second circuits AND 16 and 17 are connected to block 4. The inputs 53, and 54 circuits 16 and 19 are connected to the output 21 of the block 2. Datas 6 and 7 can be made in. The switches 55 and 56 installed on the crane 57, the ruler 8 of the block 5 are located on the crane runway symmetrically with the transverse axis of the main ruler 58. The device works as follows. The operation of the device will be considered on the example of the crane 57 movement mechanism. In the initial state, it is turned off and is at a certain position in the zone of the exact stop. This means that the commands at the output of block 2 are missing and sensors 6 and 7 of exact stop are excited. Only one sensor 6 or 7 can be energized, which also corresponds to the location of the crane in the exact stop zone, since in both cases the input signal of the IDN-20 circuit will be a single signal and the output will be zero, which is fed to inputs 47 and 48 And 14.15 and further on to the inputs 32.50 of the OR circuit 16 and 17. The other inputs of 53.31 of the circuit OR 16.17 receive a zero signal from program block 2, so there are no commands at the output in the initial state, regardless of no memory elements 9,10. From the output of the OR 18 circuit, a single signal is fed to the input of the AND 13 circuit, at the other input 4 of which there is the same signal from the output of the delay element 11, then to the input of the delay element 12 the signal is fed to the input of the program block 2. Consequently, in the initial state, the exact stop unit 5 issues a launch permit to block 2 of the program. Upon the command of the start, supplied from the control panel 1 by the crane operator, block 2 of the program issues commands to turn on the engines of the crane movement mechanisms and the trolley to move in the appropriate directions in order to deliver the load gripping body to the place of pickup. Suppose that, from output 21, a command is received to move the crane 57 to the right, as a result, a single signal is received at input 53 of the OR circuit 16 and then to the input of block 4 for switching on the engines of crane mechanisms, input 54 of the OR-NOT 19 circuit, 22 for setting 1 memory element 9, input 23 to set the O state of memory element 10. The engine of the crane movement mechanism starts and the crane 57 starts to move to the right. At the output of the OR-NOT 19 circuit, a zero signal appears, which through the delay element 11 is transmitted to the inputs 24,25,26 of the circuits AND 13 14.15, the transmission is carried out without a time delay. From the output of the AND 13 circuit, the zero signal through the element 12 is transferred to the input of the program block 2, which removes the permission for the latter to go to the next state. The memory element 9 enters the state if before it was in the O state, and the element Memory 1O is in the state O, if before that it was in state 1, since by this time the sensor 6.7 of the exact stop disappears from the ruler 8.

When moving to a given position, the crane will pass positions at which it should not stop, as their numbers are greater or less than the specified one. When driving over the ruler 8 exact stop zones of these positions, exact stop sensors 6 and 7 will be excited, but this will not change the state of Outputs 51.52, because inputs 24, 25, 26 of the circuits And 13,14, 15 will be zero the signal coming from the output element zaderl; ki 13 ;.

When the crane 57 reaches a predetermined position, according to the signal from the sensor 3, braking starts and program block 2 removes the command to the right. At outputs 21.51, a zero signal is set. It will be inverted by an OR-NOT 19 circuit and fed to the input of delay element 11, which will begin processing a time delay equal to the deceleration time. When the crane enters the exact stop zone on the ruler 8, the fine stop sensor 6 will slide in. Ø will energize and output a single signal to the inputs 36.37 of memory elements 9, 10, the OR-NOT 2O circuit and the OR-18 circuit. From the output 46 of the OR-NOT 2O circuit, the zero signal will go to the inputs 47, 48 of the AND 14, 15 and thus blocking the passage of single signals from outputs 38, 39 of memory elements 9, 1 O. From the output of the circuit OR 18, a single signal will arrive at the input of the circuit 13. At another input 24 of this circuit, the analogous signal will arrive after some time from the output of the delay element 11. From the output of the circuit 13, the signal will go to the input of the delay element 12 and then to the input of the block 2 programs.

In the process of braking the crane 57, following the sensor 6, the sensor 7 can also slide onto the ruler 8, and only then the valve 57 will stop. It may also be that the crane stops moving a little more to the right, so that the sensor 6 is released and the sensor 7 remains energized.

The state of the sensors is shown in FIG. 2. But in all three cases the crane is in the exact stop zone, i.e. os-, tanovils with a permissible error at which automatic

performing the next cycle operation, for example, the seizure of cargo. Therefore, the exact stop node will issue permission to perform the next i cycle operation. Thus, the device operates under normal operating conditions, when the mechanism stops in the exact stop zone as a result of braking. But depending on the prevailing conditions, it may not reach it (for example, with a strong head wind) or move (for example, with a strong tail wind}.

In the first case, the sensor 6 does not work and at the inputs 35, 43 of the circuit OR NOT 20 there will be zero signals. From eb output, a single signal is fed to inputs 47,

48 schemes And 14, 15, than removed block. The signal flow from the outputs, 38, 39 memory elements 9,10. The first of them will be at that time in the state of scientific research institute I, the second in the state of O, i.e. they remembered the states in which the patiee had moved the team to the right. From the output 38 of the memory element 9, a single signal is fed to the input .40 of the circuit AND 15. To the input 26 of this circuit, a similar signal will arrive from the output of the delay element 11 as soon as the deceleration time has elapsed. Then the circuit And 15 will issue a single signal to the input 50 of the circuit OR 16 and further to the output 51. Therefore, the input of the block 4 to turn on the engines of the crane mechanisms will again be fed

command right. The crane will start moving again in the same direction. When the sensor is mounted on the ruler 8, i.e. when the mechanism enters the exact stop zone, the command will be cleared, since

A single signal from the output of sensor 6 will be inverted by an OR-NOT 2O circuit, which will give a zero signal to the input 48 of circuit 15. At the same time, a single signal from the output of circuit OR 18 through

circuit 13 will start delay element 12. Its delay time is equal to the deceleration time after the exact stop sensor 6 trips. If during this time the crane does not leave the zone of exact stop, then program 2 will be granted block 2 of the program to perform the following cycle operation. If, however, during the delay processing, the tap leaves the exact stop zone, then the delay test will be stopped, since the exact stop sensors are released and a zero signal appears at the input of the delay element 12. Entering the crane in the exact stop area repeats.

Automatic execution (Stopping the crane at the given positions with the necessary precision allows automating the execution of all operations of the crane operation cycle.

Claims (2)

1. USSR author's certificate number 531783, cl. G 05 B 19/00, Z.O4.74, 2. USSR author's certificate : №352-225Sh., Vb6S 13/18, 29.12.70 (prototype. one vy S6 Jl J. 51 / a) @ y ///////, /, //// at y / y5 P...