RU49811U1 - LOAD CRANE SAFETY INSTRUMENT (OPTIONS) - Google Patents

Abstract

The utility model relates to mechanical engineering and can be used in overload protection systems for various types of cranes. The essence of the utility model: The safety device, in which the proposed utility model is implemented, can have one-block (electronic unit and sensors of operating parameters of the crane) or two-block version (electronic block, expansion unit and sensors). In the first case, the safety device contains an electronic unit and sensors, including a load sensor for a crane, made in the form of a force sensor or a pressure sensor in the boom lift cylinder, and the electronic unit contains a digital computer based on a microcontroller, and control elements connected to it , indicators, a storage device and an input / output device for information, and the sensors are connected to the input / output device using separate communication lines or a multiplex communication channel and electronic unit information, wherein the input / output electronic information block comprises at least one output which is connected to the actuator. In the second case, the safety device contains an electronic unit, an expansion unit connected to the electronic unit, and sensors, including a load sensor of the crane, made in the form of a force sensor or pressure sensor in the boom lifting hydraulic cylinder, and the electronic unit contains a digital calculator made on the basis of the microcontroller, and connected to it controls, indicators, a storage device and an input / output device, and the expansion unit contains, in particular, a microcontroller and connected to an input / output device, the sensors using separate communication lines or a multiplex communication channel

data connected to the input / output device information of the electronic unit and / or the input / output device information of the expansion unit, while the input / output device information of the electronic unit or expansion unit contains at least one output that is connected to the actuator. The electronic unit may contain safety device settings, and the sensors of the safety device may include at least one angle sensor, in particular an arrow angle sensor, an azimuth angle sensor and / or a rotation angle sensor of a shaft, in particular a gearbox output shaft . At the same time, for a safety device with a multiplex data exchange channel, the information input / output device of the electronic unit and / or expansion unit contains a transceiver or controller of a multiplex data exchange channel, in particular, a serial interface such as CAN or LIN, and at least one of these devices Information input / output additionally contains at least one power switch, the input of which is connected respectively to the output of the digital computer of the electronic unit and / or the microcontroller of the expansion unit I, and the output is connected to the actuator, and for a safety device with analog sensors, the information input / output device of the electronic unit and / or expansion unit contains an analog-to-digital converter, the inputs of which are connected to the outputs of the sensors, which are made of analog, at least one of said information input / output devices further comprises at least one power switch, the input of which is connected to the output of a digital computer of the electronic unit and / or microcontroller, respectively flash expansion, and the output is connected to the actuator. In addition, in a utility model, depending on its implementation: a) the security device settings are made in the form of cells of non-volatile memory of a digital computer and / or storage device, and the digital computer is made with the ability to record the values of tuning factors in these memory cells depending from the output signals of the controls and / or

the output signal of at least one sensor, as well as with the possibility of programmatically changing the parameters of the output signal of at least one sensor depending on the values of the tuning coefficients recorded in the memory cells, without mechanical adjustment of the spatial position of this sensor on a crane and without an electromechanical tuning element, for example a potentiometer, in the electrical circuit of this sensor. Moreover, the implementation of a digital computer with the possibility of a specified change in the parameters of the output signal of the sensor provides, in particular, its implementation with the ability to add and / or multiply the value of the output signal of the sensor with the values of the tuning coefficients recorded in non-volatile memory; b) at least one sensor comprises a primary converter, a tuning device and an output device connected in series, the tuning device being made without an electromechanical tuning element, for example a potentiometer, and with the possibility of calibration and / or compensation of the initial displacement of the output signal of this sensor. Moreover, the specified configuration device can be made in the form of a microcontroller with non-volatile memory with the ability to record tuning coefficients in the cells of non-volatile memory depending on the output signals of the electronic unit, as well as with the possibility of programmatically changing the parameters of the output signal of the sensor depending on the values of these tuning coefficients, in particular with the ability to add and / or multiply the value of the output signal of the primary transducer of the sensor with the values of these settings echnyh coefficients. Moreover, for a safety device with a multiplex communication channel, the output device of at least one sensor is made in the form of a transceiver or controller of a multiplex communication channel, in particular, a serial interface such as CAN or LIN; c) at least one angle sensor has mounting elements, in particular mounting holes, which are located in a fixed angular position relative to the angular position of this sensor according to its measured parameter; d)

at least one angle sensor is configured to measure an angle of rotation within at least 360 °, in particular based on a magnetically sensitive microcircuit, with the possibility of exposure to it by a magnetic field of a magnet that is connected to the input axis of the angle sensor, or based on two potentiometers, whose axes are connected with the input axis of the angle sensor with an angular shift, the value of which exceeds the width of the gap zone of the contact system of these potentiometers, and e) the angle sensor is made in the form of a potentiometer with an additional lowering eduktorom. The utility model allows to reduce the complexity of setting up a safety device on a crane and to ensure the interchangeability of its components.

Description

The invention relates to the field of mechanical engineering and can be used in protection systems for jib cranes and pipe-laying cranes.

From the copyright certificate SU 592721, IPC 2 В 66 С 15/06, 02/15/1978, a crane safety device is known containing load and departure sensors, which are connected via additional potentiometers to the crane load limiter inputs.

The disadvantage of this device is the high complexity of setting up the safety device, due to the need for multiple lifting of loads during initial and final departures, as well as the need for mechanical adjustment of potentiometers.

Closest to the proposed one is a safety device for a crane type ОНК-140 (Crane load limiter ОНК-140-13. New regulatory materials for the safe operation of lifting structures. Issue 2, 1999. - M .: Publishing house PIO OBT, p. 47-86., Or ONK-140 crane load limiter. Installation, commissioning and control instructions. LGFI. 408844.009 IM. - Arzamas: Arzamas Instrument-Making Plant OJSC, 2002. - 24 pp., Containing an electronic unit (or unit data processing), a load sensor of a crane, made in the form of a force sensor or pressure sensors in the boom lifting hydraulic cylinder, azimuth angle sensor, boom length sensor and other sensors of operating parameters of the crane. The electronic unit, referred to as the data processing unit, in this safety device contains a digital calculator based on a microcontroller, and connected to it controls, indicators,

a storage device and an information input / output device, the sensors being connected to an electronic unit information input / output device. In this case, individual sensors, in particular a boom angle sensor and an azimuth angle sensor, are configured to mechanically adjust their position on a crane, and the information input / output device contains an analog-to-digital converter and matching devices with sensors, in particular, sensor output amplifiers with tuning elements, which are used potentiometers located under the sealed protective cover, and power switches, made in the form of electromagnetic relays. The known safety device in some versions of its execution may also contain an expansion unit, made in the form of a block of output relays. Moreover, the crane actuator can be connected to the outputs of the power switches (relays) of both the electronic unit and the expansion unit.

A disadvantage of the known safety device is the high complexity of its settings, caused by the presence of mechanical adjustments of the position of the sensors on the crane, as well as the need to regulate the signals in the channels for measuring the load with potentiometers. The arrangement of potentiometers under the protective cover also leads to an additional complication of the setting, which necessitates its removal, violation and subsequent restoration of the sealing of the electronic unit, etc.

In addition, the well-known safety device does not provide interchangeability of its components, and additional adjustment of the safety device after replacing any of its components is also necessary. For example, pressure sensors in the piston and rod cavities of the boom lift hydraulic cylinder are not interchangeable due to the presence of variations in their technical characteristics caused by technological tolerances in the manufacture of sensors. When replacing the sensor of the angular position of the boom, it is also necessary to adjust the safety device due to the presence of variations in the technical characteristics of various sensor samples. In addition, due to the availability of

adjustment grooves in the attachment points, it is not possible to install a new boom angle sensor in the same angular position. Similarly, after replacing any other angle sensor made by potentiometric, for example, an azimuth angle sensor, it is necessary to adjust its angular position, including from the condition that the contact zone of the contact system of the potentiometer is excluded from the working range of measuring angles.

The technical results to which the proposed utility model 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 same type of component parts of the safety device;

- providing the ability to replace the individual components of the safety device without additional settings.

The safety device, in which these technical results are achieved, can have a single-block design (electronic block and sensors of the operating parameters of the crane) or two-block version (electronic block, expansion block and sensors of the working parameters). In the first case, the safety device of the crane contains an electronic unit and sensors, including a load sensor of the crane, made in the form of a force sensor or pressure sensor in the boom lift cylinder, and the electronic block contains a digital computer based on the microcontroller, and connected to controls, indicators, a storage device and an input / output device, the sensors being connected via separate communication lines or a multiplex communication channel device I / O information of the electronic unit, wherein the input / output electronic information block comprises at least one output which is connected to the actuator. In the second case, the safety device contains electronic

a unit, an expansion unit connected to the electronic unit, and sensors, including a load sensor of the crane, made in the form of a force sensor or pressure sensor in the boom lifting hydraulic cylinder, and the electronic unit contains a digital computer based on the microcontroller and connected to it controls, indicators, a storage device and an information input / output device, and the expansion unit comprises, in particular, a microcontroller and an information input / output device connected to it, and sensors using separate communication lines or a multiplex data exchange channel, are connected to the information input / output device of the electronic unit and / or to the information input / output device of the expansion unit, wherein the information input / output device of the electronic unit or expansion unit contains at least one output, which connected to an actuator. In this case, the sensors of the safety device can be connected to the input / output device of information of the electronic unit and / or the expansion unit using separate communication lines or a multiplex data exchange channel, the electronic unit may contain security device settings, and the sensors may include at least one angle sensor, in particular a boom angle sensor, an azimuth angle sensor and / or a rotation angle sensor of a shaft, for example a gearbox output shaft.

To achieve the specified technical results, a utility model, depending on its implementation option, may have the following distinguishing features:

- security device settings elements are made in the form of cells of non-volatile memory of a digital computer and / or memory device, and the digital computer is configured to record the values of tuning factors in these memory cells depending on the output signals of the controls and / or the output signal of at least one sensor as well as with the possibility of programmatically changing the parameters of the output signal of at least one sensor depending on the values

tuning coefficients recorded in memory cells, without mechanical adjustment of the spatial position of this sensor on a crane and without an electromechanical tuning element, such as a potentiometer, in the electrical circuit of this sensor. Moreover, the implementation of a digital computer with the possibility of a specified change in the parameters of the output signal of the sensor provides, in particular, its implementation with the ability to add and / or multiply the value of the output signal of the sensor with the values of the tuning coefficients recorded in non-volatile memory;

- at least one sensor comprises a primary converter, a tuning device and an output device connected in series, the tuning device being made without an electromechanical tuning element, for example, a potentiometer, and with the possibility of normalizing the output signal of this sensor, in particular its calibration and / or compensation of the initial displacement. Moreover, the specified configuration device is made, in particular, in the form of a microcontroller with non-volatile memory with the ability to record tuning coefficients in the cells of this non-volatile memory during the production of the sensor and / or depending on the output signals of the electronic unit, as well as with the ability to programmatically change the parameters of the sensor output signal depending on the values of these tuning factors, in particular with the ability to add and / or multiply the value of the output signal of the primary conversion STUDIO sensor with the values of said tuning coefficients. Moreover, for a safety device with a multiplex communication channel, the output device of at least one sensor is made in the form of a transceiver or controller of a multiplex communication channel, in particular, a serial interface such as CAN or LIN;

- at least one angle sensor has mounting elements, in particular mounting holes, which are located in a fixed angular position relative to the angular position of this sensor according to its measured parameter;

- at least one angle sensor is configured to measure a rotation angle within not less than 360 °, in particular based on a magnetically sensitive microcircuit, with the possibility of exposure to it with a magnetic field of a magnet that is connected to the input axis of the angle sensor, or based on two potentiometers whose axes are connected with the input axis of the angle sensor with an angular shift, the value of which exceeds the width of the gap zone of the contact system of these potentiometers;

- the angle sensor is made in the form of a potentiometer with an additional reduction gear.

In this case, for a safety device with a multiplex data exchange channel, the information input / output device of the electronic unit and / or expansion unit contains a transceiver or controller of a multiplex data exchange channel, in particular, a serial interface such as CAN or LIN, and at least one of these input devices / the information output further comprises at least one power switch, the input of which is connected respectively to the output of the digital computer of the electronic unit and / or the microcontroller of the expansion unit and the output is connected to an actuator, and for a safety device with analog sensors, the information input / output device of the electronic unit and / or expansion unit contains an analog-to-digital converter, the inputs of which are connected to the outputs of the sensors, which are made analog, and at least one of said information input / output devices further comprises at least one power switch, the input of which is connected to the output of a digital computer of the electronic unit and / or microcontroller, respectively expansion lok, and the output is connected to the actuator.

Due to the indicated distinctive features, the proposed utility model electronically adjusts the safety device without mechanical adjustment of both the positions of the sensors themselves on the crane and any

electromechanical adjusting elements, such as potentiometers. This reduces the complexity of setting up the safety device.

The use of normalization (i.e. calibration of the transfer characteristic and compensation of zero offset) of the sensors, including using microcontrollers installed in the sensors, allows to obtain the identity of the characteristics of the same type of sensors, which ensures their interchangeability.

The fixed location of the mounting elements, in particular the mounting holes, on the sensor eliminates the need for mechanical adjustment of the position of the sensor on the crane after replacing them, which also reduces the complexity of setting up the safety device.

The implementation of angle sensors with full rotation (with the possibility of measuring the angle of rotation within no less than 360 °), in particular, based on a magnetically sensitive microcircuit or on the basis of two potentiometers shifted relative to each other, when installing the angle sensor on the crane, allows its shaft to be installed in an arbitrary position (without adjustments) and then carry out electronic adjustment (binding) of its initial or zero position. This also reduces the complexity of setting up a safety device on a crane. In some cases, the equivalent result is also achieved by the use of an angle sensor with a large measurement limit, for example, within a few revolutions, not of a full-angle sensor, due to the use of a sensor in the form of a potentiometer with an additional reduction gear.

With this in mind, the distinguishing features of the utility model are in direct causal connection with the achievement of the indicated technical results, i.e. these symptoms are significant.

Figure 1 shows the functional diagram of the safety device in a single-block design (electronic unit and sensors), figure 2 - functional diagram of this device in a two-block design (electronic unit, expansion unit and sensors). Figure 3 shows a functional diagram of a sensor with a built-in device settings, and figure 4 and figure 5 schematically shows

embodiments of full-angle angle sensors, implemented respectively on the basis of a magnetically sensitive microcircuit and two potentiometers shifted relative to each other.

The safety device of the crane in a single-block design (see figure 1) contains an electronic unit 1 and sensors operating parameters of the crane 2 (also referred to as "sensors"). The electronic unit 1 contains a digital computer 3, based on a microcontroller, and connected to it controls (buttons, keys) 4, indicators (LED, symbolic liquid crystal, etc.) 5, a storage device (flash memory chips) 6 and information input / output device 7.

For a safety device with analog sensors, the input / output information device 7 contains an analog-to-digital converter, and for a device with digital sensors, it contains a transceiver or controller for a multiplex communication channel, in particular, a serial interface such as CAN (Control Area Network) implemented according to ISO 11898 , ISO 11519 or type LIN (Local Interconnection Network) approved by the European Automobile Consortium. In addition, the input / output device information 7 contains at least one power switch, made in the form of an electromagnetic relay or power integrated circuit. The output of the power switch (the output of the input / output device 7) is connected to the actuator of the crane 8, which can be used as an electromagnetic valve included in the hydraulic control system of the crane.

The sensors 2 include, in particular, the load sensor of the crane 9, made in the form of a strain gauge force sensor in the cargo or jib rope of the crane or in the form of strain gauge pressure sensors in the hydraulic cylinder for lifting the boom, the length sensor 10, made, for example, in the form of a cable drum, the angle sensor of the boom 11, made, for example, in the form of a micromechanical inclinometer / accelerometer, and the angle sensor azimuth 12, for example, potentiometric. Safety device

may also contain various angle sensors 13, made in the form of an angle sensor with matching gear. These include, in particular, a sensor for moving the crane along the crane path (angle of rotation of the driven wheel of the crane, for example, a tower), a stroke sensor of the cargo winch (angle of rotation of the shaft or drum of the cargo winch), a stroke sensor of the cargo truck (angle of rotation of the shaft or drum of the winch truck trolley) etc. Depending on the design of a particular crane and the implementation of the proposed utility model, individual sensors shown in FIG. 1 may not be available. In the safety device may also be present additional sensors, not conventionally shown in figure 1. These include, in particular, the sensor for the maximum lift of the load-gripping body, the proximity sensor to the power line, discrete displacement sensors of crane controls, etc.

The safety device of the crane in a two-block design (see figure 2), in addition to the indicated functional units, additionally contains an expansion unit 14. The expansion unit 14 can be made in the form of a set of power keys (in particular electromagnetic or optoelectronic relays) and, accordingly, can perform functions only the power amplifier of the output signals of the input / output device information 7.

The expansion unit 14 may also be configured to connect analog, discrete and / or digital sensors 2 to it. In this case, the expansion unit 14 contains a microcontroller 15 and an information input / output device 16 connected thereto. Moreover, depending on the type of used sensors 2 (analog or digital), the input / output device 16 of the expansion unit 14 contains either an analog-to-digital converter (in general, multi-channel) or a transceiver or controller of a multiplex communication channel, in particular, serial interface type CAN or LIN. In addition, this input / output device information 17 may contain one or more power keys,

made in the form of electromagnetic or optoelectronic relays or power integrated circuits.

In a two-block embodiment of the safety device, the actuator of the crane 8, depending on the presence of power keys in the input / output devices 7, 16 of the electronic unit 1 and the expansion unit 14, can be connected to the output of the expansion unit 14 or to the output of the electronic unit 1 ( figure 2, the last connection is shown by a dashed line) or to the outputs of both blocks 1 and 14.

Similarly, the sensors 2, depending on the design of the input / output devices 7 and 16, can be connected to the expansion unit 14 or to the electronic unit 1 (in Fig. 2 the last connection is shown by a dashed line) or to the outputs of both units 1 and 14. Moreover, this connection can be carried out according to the radial scheme (using separate wires) or using a multiplex data exchange channel.

The connection of the electronic unit 1 with the expansion unit 14 can also be carried out using separate wires (using a separate wire for transmitting each signal) or using a multiplex communication channel. Moreover, in the latter case, to connect the electronic unit 1 with the expansion unit 14, a separate multiplex data exchange channel can be used, or a common multiplex data exchange channel between both blocks 1, 14 and sensors 2 can be used in the safety device.

Each of the sensors 2 (9-13) (see Fig. 3) can be made in the form of series-connected primary transducer 17, tuner 18, output device 19, and power circuits, which are not conventionally shown in Fig. 3.

The tuning device 18 is made without electromechanical tuning elements, for example, adjustment resistors (potentiometers), with the possibility of calibration and / or compensation of the initial bias of the output signal of this sensor. The most rational implementation of the device

settings 17 is its execution in the form of a microcontroller, for example, Microchip, with non-volatile memory (EEPROM) for recording and storing tuning coefficients and with a built-in analog-to-digital converter, an operational amplifier or a comparator used to process the output signal of the primary converter 17 (tensometric bridge, potentiometer, magnetoresistor, etc.).

For a safety device with a multiplex communication channel, the output device 19 of the sensor (in this case, a digital sensor) is made in the form of a transceiver or controller of a multiplex communication channel, in particular, a serial interface such as CAN or LIN. If analog sensors 2 are used in the safety device, then the output device 19 can be made in the form of an amplifier, a 4-20 mA current loop interface, etc.

It is also possible to execute each of the sensors 2 without a tuning device 18 and an output device 19. In this case, each of the sensors 2 contains only the primary transducer 17, and the task of normalizing its transfer characteristic (calibration, lanerization, temperature compensation, and zero offset compensation) is assigned to the electronic unit 1, which in this case contains the corresponding settings of the safety device.

The sensor of the azimuth angle 12 or the rotation angle of any other shaft 13 can be made on the basis of the magnetically sensitive microcircuit 20 (see figure 4) with the possibility of measuring the rotation angle within 360 °. In this sensor, a magnet 21 connected to the input axis 22 of the angle sensor acts by a magnetic field B on a magnetically sensitive microcircuit 20, for example, of the KMZ52 type, the output signal of which depends on the direction of the magnetic field and is either the output signal of the sensor 12, 13 or the input signal of the tuning device 18 (see figure 3).

The sensor of the azimuth angle 12 or the rotation angle of any other shaft 13 can also be made on the basis of two potentiometers 23 and 24 (see figure 5), the axis

of which 25 and 26 are connected to the input axis 27 of the angle sensor with an angular shift, the value of which exceeds the width of the gap zone of the contact system of these potentiometers and is, for example, 90 ° or 180 °. This shift can be achieved, in particular, by a corresponding rotation of the driven gears 28 and 29 of the gears by a quarter turn or half a turn when they are engaged with the driven gear 30. The outputs of the potentiometers 23 and 24 are connected to the tuning device 18.

The microcontroller of the tuning device 18, after converting the output signals of the potentiometers 23 and 24 into digital form using the built-in two-channel analog-to-digital converter, generates the sensor output signal in accordance with the output signal of one potentiometer, for example, the first 23. If the axis 25 of this potentiometer 23 is in the position corresponding to a break in its contact system (in the interval between the beginning and end of the resistive element of the potentiometer) and the output signal of the first potentiometer 23 is zero, then m krokontroller setting unit 18, tapping it, it forms a gap in said sensor output using a second output signal of the potentiometer 24.

The angle sensor 12 or 13 can also be made in the form of one or two potentiometers with an additional step-down single-stage or multi-stage gearbox. The principle of construction of such a sensor is obvious from figure 5.

In addition, the angle sensor, including the angle sensor of the boom 11, the azimuth angle sensor 12 or the rotation angle sensor of any other shaft 13, may have mounting elements, in particular mounting holes, which are located in a fixed angular position relative to the angular position of this sensor according to its measured parameter. As applied to the boom angle sensor 11, this means that its output signal is unambiguously determined by the angle of rotation of its mounting / fixing elements. And for a shaft angle sensor, this means that the angular position of its shaft (flats, keyway, marks, etc. on the input shaft) relative to its mounting / fixing

elements also uniquely determines the output signal of this sensor. Technically, this is achieved due to the fact that the sensitive element (inclinometer / accelerometer, potentiometer or magneto-sensitive microcircuit with a permanent magnet) in the case of the angle sensor is installed not in an arbitrary position, but in a fixed, identical for all sensors of this type.

Before starting the operation of the crane, the crane operator (operator) in manual mode using the controls 4 located on the electronic unit 1 located in front of him, enters 3 parameters determining the crane operation modes into the digital computer (position of the retractable supports, the multiplicity of storage of the chain hoist, the presence, length and angle of inclination of the jib, etc.), if for these crane designs input of these parameters is necessary. The entered parameters are stored in non-volatile (Flash) memory device 6 or in the memory (in EEPROM) of the digital computer microcontroller 3.

The zone of permissible values of the position of the lifting (boom) equipment of the crane is entered when setting the parameters of coordinate protection using controls 4 and is also stored in the memory of the microcontroller of the digital computer 3 or in the storage device 6.

The control of a crane with a hydraulic control system is carried out by the crane operator in manual mode by moving the controls (handles, levers, etc.) by the hydraulic valves of the crane in the appropriate directions. In order for any movement of the crane to occur, it is necessary both the presence of the control action of the crane operator and the absence of blocking this movement from the side of the actuator 8, for example, an electro-hydraulic valve.

If there is no crane overload at the load moment and when its boom is in the zone of acceptable values for coordinate protection, the input / output device information 7 (and / or 16) of the electronic unit 1 and / or expansion unit

14 generates a signal to the actuator 8, allowing the movement of the crane.

When the crane is working, the sensors operating parameters 2 measure the parameters characterizing the loading of the crane and the position of its lifting (boom equipment). The microcontroller of the digital computer 3 operates according to the program defined during the design of the safety device and previously recorded in its memory or in the storage device b, and through the input / output device 7 directly or through the expansion unit 14, which acts as a signal repeater, via a multiplex data exchange channel or through separate communication lines receives from the sensors 2 the values of the operating parameters of the crane.

After receiving information from sensors 2 (9-13), the microcontroller of digital computer 3, working according to the program, determines the current load of the crane and the position of its load-lifting (boom) equipment using known functional dependencies. If necessary, to determine the current load of the crane and / or the current position of its boom or load-gripping body, the necessary transformations of the output signals of the sensors of operating parameters are carried out 2. This takes place when the current load of the crane and / or the position of its boom or load-gripping body are measured indirectly way - for example, when determining the load of a hydraulic boom crane by pressure in the rod and piston cavities of the boom lifting hydraulic cylinder. The algorithms of these transformations are well known and implemented by software with a digital computer 3.

Permissible loading modes in the form of crane load characteristics are stored in the memory of the microcontroller or in the storage device 6.

Next, the microcontroller of the digital computer 3 compares the actual crane loading with the maximum permissible, as well as comparing the actual position of the lifting equipment with the zone of permissible positions specified when the coordinate protection was introduced and, depending on

the results of these comparisons, through the information input / output device 7 (through the power keys included in it) sends to the actuator 8 a shutdown signal of the electro-hydraulic valve. This signal can also be transmitted to the expansion unit 14 via a multiplex communication channel or via separate wires. In this case, the microcontroller 15 of the expansion unit 14, working according to the program recorded in its memory, receives a shutdown signal and generates a corresponding signal at the output of its power key, which is part of the information input / output device 16. Next, from this information input / output device 16 the shutdown signal (or blocking) is also transmitted to the actuator 8. Due to this, the crane is automatically protected from overloading the load moment and protection against collisions of the boom equipment with various obstacles (coordinate protection). In this case, the actuator 8 may include several electro-hydraulic valves, which can be connected to the electronic unit 1, to the expansion unit 14, or to both units 1 and 14, which is not critical.

At the same time, the most important parameters of the crane, for example, the degree of load on the load moment, as well as warning signals about overloading or triggering of the crane coordinate protection, are displayed on the front panel of the electronic unit 1 in front of the crane operator using indicators 5.

In addition to the described operating mode, the safety device of the crane also works in tuning mode. The setting mode is used after the initial installation of the safety device on a crane, as well as after repair or replacement of any component of the safety device.

Switching the safety device into the setting mode is carried out using one of the controls (toggle switch) 4 and is implemented by changing (switching) the digital microcontroller program

3. The program of operation of the safety device in the setup mode is also developed during the design of the safety device and is pre-recorded in the memory of the microcontroller of the digital computer 3 or in the storage device 6.

The need to configure the safety device arises, firstly, in the absence of normalization of the output signals of the sensors (i.e., differences in the parameters of the output signals of various sensors of the same type) and, secondly, the inaccuracy and non-identity of the installation of these sensors on a crane - the error of mounting (welding) of the fastening elements, the orientation error of the installation (fixing) elements on the sensor housings and the inability to accurately orient or synchronize the shafts of the crane and the sensor when tazhe this sensor on the crane.

To achieve the technical result indicated in this utility model, in the proposed technical solution, the output signals of the sensors are normalized by installing the tuning device 18 directly in the sensor (see Fig. 3). In this case, the differences in the parameters of the output signals of the primary transducers 17 are compensated by the tuning device 18 and do not affect the output signals of the sensors, ensuring their interchangeability at the level of electrical signals.

The tuning device 18 can be made in the form of a microcontroller with non-volatile memory (EEPROM), into which during the production of the sensor tuning factors are recorded - calibration parameters. To do this, during the production of the sensor, the parameters of the primary transducer 17 are measured and the values of the correction factors are recorded in the microcontroller's memory by which the output signal of the primary transducer must be multiplied or with which this signal must be added to obtain the normalized value of the sensor output signal. Further, during the operation of the sensor, the indicated operations of addition and / or multiplication are performed by the microcontroller of the tuning device 18.

If the sensor is made digital - with a multiplex data exchange channel, then the values of the calibration coefficients can be changed according to the commands of the operator submitted from the controls 4. In particular, if, for example, when the crane lifts the test load, an error in the force sensor is detected, the operator is in the setup mode the safety device with the help of controls 4 can sequentially, by any established methodology of setting or by selection, change the tuning factors in the memory microcontrol Dr. setting device 18 as long as the load to be lifted is displayed on indicators of the weight value does not match with the actual. In this case, the procedure for transmitting the tuning coefficient data from the digital computer 3 to any of the sensors 2 via the multiplex channel is standard and does not require separate explanations.

To further simplify the configuration of the safety device on the crane and to ensure interchangeability of the sensors 2, the sensors in the proposed utility model are implemented with installation elements, in particular mounting holes, landing planes, orientation pins, etc., located in a fixed angular position relative to the angular position of this sensor by its measured parameter. In this case, it is obvious that replacing the sensor with a normalized value of the output signal and with such installation elements will not lead to the need for any adjustment of the safety device, regardless of the error of installation (welding) of the fastening elements of these sensors on the crane.

An additional opportunity to simplify (or reduce the complexity) the settings of the safety device is realized by eliminating the need for mechanical adjustment of the position of the sensors on the crane and eliminating the adjustment of any electromechanical tuning elements, such as potentiometers.

For this, it is necessary, firstly, to carry out sensors with full rotation (to ensure the possibility of their installation on the crane in an arbitrary position)

and secondly, to implement the electronic configuration of the safety device in a digital computer.

Possible principles for the implementation of full-angle sensors are shown in figure 4 and figure 5 and described above. When installed on a crane, there is no need to combine the zero position of the rotation angle of any crane shaft with the input shaft of the azimuth sensor. When articulating these shafts in an arbitrary position, a certain constant value of the angular displacement occurs, which can be compensated in the digital computer 3.

To realize this possibility, the safety device settings are made in the form of cells of non-volatile memory of digital computer 3 and / or memory 6. Digital computer 3 according to the operator’s commands from control 4, and depending on the output signal of each sensor, in the setup mode the safety device records the values of the tuning coefficients in the indicated memory cells. Next, the microcontroller of the digital computer 3 in the operating mode of the safety device implements a program change of the parameters of the output signal of the sensor depending on the values of the tuning factors (by multiplying or adding the output signal of this sensor with the tuning factors).

As an example, consider the process of electronic adjustment of the azimuth angle sensor. Suppose that the actual value of the azimuth angle of the crane is γ ₁ , and the azimuth angle sensor, mounted and fixed in an arbitrary position, generates an output signal γ ₂ , i.e. the error in measuring the azimuth angle is Δ = (γ ₁ -γ ₂ ) ° and can be significant.

To eliminate this error, the operator, the adjuster of the safety device, enters the real value of the azimuth angle, the value γ _1, into the digital computer 3 in the mode of setting up the safety device using the controls 4. After finishing the entry (pressing the "Enter" button, which is part of

the composition of the controls 4), the digital computer 3 calculates the specified difference (γ ₁ -γ ₂ ) and writes it to non-volatile memory. Further, after switching the safety device to the operating mode, the digital computer 3 determines the actual value of the azimuth angle by summing the current value of the output signal of the sensor 12 and the correction (tuning factor) recorded in non-volatile memory: γ ₁ = γ ₂ + (γ ₁ -γ ₂ )

In a similar way, the additive and / or multiplicative error of other sensors is compensated for by electronic adjustment of the safety device. In this case, the actual value of the azimuth angle is not entered into the safety device, but, for example, the actual value of the weight of the load to be lifted, the actual value of the departure, etc.

In view of the foregoing, the consequence of the implementation of the distinguishing features of the claimed utility model is to reduce the complexity of setting up the safety device on a crane by eliminating mechanical adjustments, ensuring the interchangeability of the same components of the safety device, and also ensuring the possibility of replacing the individual components of the safety device without additional settings .

Claims (25)

1. A safety device for a crane containing an electronic unit and sensors for operating parameters of a crane, including a load sensor for a crane, made in the form of a force sensor or a pressure sensor in the boom lift cylinder, the electronic unit contains a digital computer based on a microcontroller, and connected to it controls, indicators, a storage device and an input / output device, and the sensors of the operating parameters of the crane are connected to the input / output information of the electronic unit information, while the input / output device of the information of the electronic unit contains at least one output that is connected to an actuator, characterized in that the digital computer is configured to record the values of the tuning coefficients in the memory cells of the digital computer and / or storage device depending on the output signals of the controls and / or the output signal of at least one sensor of the operating parameter of the crane, and e, with a software change in output signal parameters, at least one transducer operational parameter of the crane in dependence on the values of the tuning coefficients of the fixed spatial position of the sensor on the load tap. 2. The safety device according to claim 1, characterized in that the execution of the digital computer with the possibility of the specified program change the parameters of the output signal of the sensor of the operating parameter of the crane includes its ability to add and / or multiply the value of the output signal of this sensor with the values of the tuning factors. 3. The safety device according to claim 1 or 2, characterized in that the input / output device of the electronic unit information comprises a transceiver or a controller of a multiplex data exchange channel, in particular a serial interface such as CAN or LIN, connected to the inputs / outputs of the sensors, which are digital , and at least one power switch, the output of which is connected to the actuator. 4. The safety device according to claim 1 or 2, characterized in that the input / output device of information of the electronic unit contains an analog-to-digital converter, the inputs of which are connected to the outputs of the sensors of the operating parameters of the crane, which are made analog, and at least one a power switch, the output of which is connected to the actuator, and the outputs of the analog-to-digital converter and the input of the power switch are connected to the corresponding inputs and output of the digital computer. 5. A safety device for a crane containing an electronic unit, an expansion unit for inputs and / or outputs connected to the electronic unit, and sensors for operating parameters of the crane, including a load sensor for the crane, made in the form of a force sensor or pressure sensor in the lift cylinder arrows, the electronic unit contains a digital computer, based on the microcontroller, and connected to it controls, indicators, a storage device and an input / output device, etc. whereby the input / output device of the information of the electronic unit and / or the expansion unit of the inputs and / or outputs contain / contains at least one output that is connected to an actuator, characterized in that the digital computer is configured to write values of the tuning coefficients in cells the memory of the digital computer and / or storage device depending on the output signals of the controls and / or the output signal of at least one sensor of the operating parameter of the crane, as well as the ability to programmatically change the parameters of the output signal of at least one sensor of the operating parameter of the crane depending on the values of these tuning factors for a fixed spatial position of this sensor on the crane, and the expansion unit of the inputs and / or outputs contains at least one power a key or a microcontroller and an input / output device for information of this expansion unit connected to it, and sensors of the operating parameters of the crane using nyh wires and / or multiplex communication channel connected to the device input / output information of the electronic unit and / or expansion unit inputs and / or outputs. 6. The safety device according to claim 5, characterized in that the execution of the digital computer with the possibility of a specified change in the output signal of the sensor of the operating parameter of the crane includes its ability to add and / or multiply the value of its output signal with the values of the tuning factors. 7. The safety device according to claim 5 or 6, characterized in that the information input / output device of the electronic unit and / or the input and / or output expansion unit contains a transceiver or a controller of a multiplex data exchange channel, in particular a serial interface such as CAN or LIN, moreover, at least one of these input / output devices further comprises at least one power switch, the input of which is connected respectively to the output of the digital computer of the electronic unit and / or the microcontroller of the block extension inputs and / or outputs, and an output connected to the actuator. 8. The safety device according to claim 5 or 6, characterized in that the information input / output device of the electronic unit and / or the expansion unit of the inputs and / or outputs contains an analog-to-digital converter, the inputs of which are connected to the outputs of the sensors of the operating parameters of the crane, which made analog, and at least one of these devices input / output information additionally contains at least one power switch, the input of which is connected to the output, respectively, of a digital computer electronic unit and / or the microcontroller of the expansion unit of the inputs and / or outputs, and the output is connected to the actuator. 9. A safety device for a crane containing an electronic unit and sensors for operating parameters of a crane, including a load sensor for a crane, made in the form of a force sensor or pressure sensor in the boom lift cylinder, the electronic unit contains a digital computer based on a microcontroller, and connected to it controls, indicators, a storage device and an input / output device, and the sensors of the operating parameters of the crane are connected to an information input / output property that contains at least one output that is connected to an actuator, characterized in that at least one crane operating parameter sensor comprises a primary converter, a setting device and an output device connected in series, the setting device is made in the form of a microcontroller with the ability to record tuning coefficients in the memory cells of this microcontroller during the production of this sensor and / or load ohm crane depending on the output signals of the electronic unit, as well as with the possibility of programmatically changing the output signal of the specified sensor of the operating parameter of the crane depending on the values of these tuning factors. 10. The safety device according to claim 9, characterized in that the configuration of the device with the possibility of the specified program change of the output signal of the sensor of the operating parameter of the crane includes its ability to add and / or multiply the value of the output signal of the primary Converter of the specified sensor with the values of the tuning factors . 11. The safety device according to claim 9 or 10, characterized in that the output device of at least one sensor of the operating parameter of the crane is made in the form of a transceiver or controller of a multiplex data exchange channel, in particular a serial interface such as CAN or LIN. 12. A safety device for a crane containing an electronic unit, an expansion block of inputs and / or outputs connected to the electronic unit, and sensors for operating parameters of the crane, including a load sensor for the crane, made in the form of a force sensor or a pressure sensor in the lift cylinder arrows, the electronic unit contains a digital computer, based on a microcontroller, and connected to it controls, indicators, a storage device and an input / output device for electronic information an electronic unit, wherein the input / output device of information of the electronic unit and / or the expansion unit of the inputs and / or outputs contain at least one output that is connected to an actuator, characterized in that at least one sensor of the operating parameter of the load-lifting the crane contains a series-connected primary Converter, a tuning device and an output device, and the tuning device is made in the form of a microcontroller with the possibility of software normalization of the output signal of this sensor operating parameter of the crane, in particular its calibration and / or compensation of the initial displacement, and the expansion unit of the inputs and / or outputs contains at least one power switch or microcontroller and connected to it input / output device information of this expansion unit, and sensors of the operating parameters of the crane using separate wires and / or a multiplex data exchange channel are connected to the information input / output device of the electronic unit and / or input expansion unit and / or output in. 13. The safety device according to claim 12, characterized in that the execution of the microcontroller with the possibility of the specified program normalization of the output signal of the sensor of the operating parameter of the crane includes its ability to record tuning coefficients in the memory cells of this microcontroller during the production of the specified sensor and / or load depending on the output signals of the electronic unit, as well as with the possibility of programmatically changing the parameters of the output signal of the working sensor a crane crane depending on the values of these tuning factors, in particular with the possibility of adding and / or multiplying the output signal of the primary transducer of the crane operating parameter sensor with the values of the specified tuning coefficients. 14. The safety device according to item 12 or 13, characterized in that the output device of at least one sensor of the operating parameter of the crane is made in the form of a transceiver or controller of a multiplex data exchange channel, in particular a serial interface such as CAN or LIN. 15. The safety device according to claim 12, characterized in that the input / output device for information of the input and / or output expansion unit comprises a transceiver or a controller of a multiplex communication channel, in particular a serial interface such as CAN or LIN, or an analog-to-digital converter. 16. A safety device for a crane, comprising an electronic unit and sensors for the operating parameters of the crane, including a load sensor for the crane, made in the form of a force sensor or pressure sensor in the boom lift cylinder, and at least one angle sensor, in particular boom angle sensor and / or azimuth angle sensor, the electronic unit contains a digital computer based on a microcontroller, and connected to it controls, indicators, a storage device and a device information input / output, and the sensors of the operating parameters of the crane are connected to an information input / output device that contains at least one output that is connected to an actuator, characterized in that at least one angle sensor has installation elements, in particular mounting holes, which are located in a fixed angular position relative to the angular position of this angle sensor according to its measured parameter. 17. A safety device for a crane containing an electronic unit, an expansion unit for inputs and / or outputs connected to the electronic unit, and sensors for operating parameters of the crane, including a load sensor for the crane, designed as a force sensor or pressure sensor in the lift cylinder boom, and at least one angle sensor, in particular a boom angle sensor and / or azimuth angle sensor, the electronic unit contains a digital computer based on a microcontroller, and connected to controls, indicators, a storage device and an input / output device for information of an electronic unit and / or an expansion unit for inputs and / or outputs contain / contain at least one output that is connected to an actuator, characterized in that at least at least one angle sensor has mounting elements, in particular mounting holes, which are located in a fixed angular position relative to the angular position of this angle sensor according to its measured parameter, the input expansion unit and / or outputs contains at least one power switch or microcontroller and an input / output device for information of this expansion unit connected to it, and sensors for operating parameters of the crane using separate wires and / or a multiplex communication channel are connected to the input / output device information of an electronic unit and / or an expansion unit of inputs and / or outputs. 18. The safety device according to claim 17, characterized in that the information input / output device of the input and / or output expansion unit comprises a transceiver or a controller of a multiplex communication channel, in particular a serial interface such as CAN or LIN, or an analog-to-digital converter. 19. A safety device for a crane, comprising an electronic unit and sensors for operating parameters of the crane, including a load sensor of the crane, made in the form of a force sensor or pressure sensor in the boom lifting hydraulic cylinder, and at least one angle sensor, in particular azimuth angle sensor and / or rotation angle sensor of any shaft, in particular the output shaft of the gearbox, the electronic unit contains a digital computer based on a microcontroller, and control elements connected to it , indicators, a storage device and an input / output device, wherein the sensors of the operating parameters of the crane are connected to an input / output device that contains at least one output that is connected to an actuator, characterized in that at least , one angle sensor is configured to measure a rotation angle within 360 °. 20. The safety device according to claim 19, characterized in that the angle sensor is made on the basis of a magnetically sensitive microcircuit, with the possibility of exposure to it with a magnetic field of a magnet that is connected to the input axis of the angle sensor, or based on two potentiometers, the axes of which are connected to the input axis an angle sensor with an angular shift, the value of which exceeds the width of the gap zone of the contact system of these potentiometers. 21. The safety device according to claim 19, characterized in that the angle sensor is made in the form of a potentiometer with an additional reduction gear. 22. A safety device for a crane containing an electronic unit, an expansion unit for inputs and / or outputs connected to the electronic unit, and sensors for operating parameters of the crane, including a load sensor for the crane, made in the form of a force sensor or pressure sensor in the lift cylinder arrows, and at least one angle sensor, in particular an azimuth angle sensor and / or a rotation angle sensor of any shaft, in particular the output shaft of the gearbox, the electronic unit contains a digital computer, performing based on the microcontroller, and connected to it controls, indicators, a storage device and an input / output device of information of an electronic unit, the input / output device of information of an electronic unit and / or an expansion unit of inputs and / or outputs contain at least one an output that is connected to an actuator, characterized in that at least one angle sensor is configured to measure a rotation angle within 360 °, and the expansion unit of the inputs and / or outputs contains at least Here, one power switch or microcontroller and the information input / output device of this expansion unit connected to it, and cranes operating parameters sensors using separate wires and / or multiplex data exchange channel are connected to the information input / output device of the electronic unit and / or unit expansion of inputs and / or outputs. 23. The safety device according to claim 22, characterized in that the angle sensor is made on the basis of a magnetically sensitive microcircuit, with the possibility of exposure to it by a magnetic field of a magnet that is connected to the input axis of the angle sensor, or based on two potentiometers, the axes of which are connected to the input axis an angle sensor with an angular shift, the value of which exceeds the width of the gap zone of the contact system of these potentiometers. 24. The safety device according to item 22, wherein the angle sensor is made in the form of a potentiometer with an additional reduction gear. 25. The safety device according to claim 22, wherein the input / output device for information of the input and / or output expansion unit comprises a transceiver or controller for a multiplex communication channel, in particular a serial interface such as CAN or LIN, or an analog-to-digital converter.