| 摘要 |
FIELD: materials handling equipment; load-lifting cranes. ^ SUBSTANCE: invention is designed to automatically control load-lifting crane and protect crane and load from collision with obstacles at preset capacity. According to proposed method, starting and stopping of drives of mechanisms providing movement of crane equipment is done by action onto crane controls, and disconnection of mechanism drives is carried out by processing of signals from pickups to limit motion or preclude over-load. To reduced level of load swinging, wire rope length pickup and tackle block ratio selector pickup are installed additionally whose signals are used to determine height of load hanging and period of swinging of suspended load. Moments to switch off and switch on crane drive mechanisms are calculated by signals from pickups checking position of crane movable equipment, inertia indices of equipment, actual speeds and accelerations of equipment and starting and disconnection of drives. Crane mechanism drives control mode is created at which killing of oscillations of load both at beginning and stopping of load movement is provided. Device contains travel motion control unit, amplified unit, pickups, load limiting unit, travel limiting unit, load hanging height check unit, suspended load swinging period check unit and crane actuators. ^ EFFECT: improved reliability of crane in operation. ^ 3 cl, 1 dwg |
