Boom limit safety control circuit

Abstract

A safety circuit for a lifting device extensible boom is presented wherein the boom angle of elevation and boom length are each converted into a parallel coded word. The two coded words, one representing boom angle and the other boom length, are processed in a digital logic network which provides inhibit functions that prevent boom extension or boom lowering when either of the two boom actions will place the boom in a position which will damage the boom or topple the machine. A plurality of switches are associated with the boom to generate and apply the boom length code word to a monitoring circuit, which responds thereto to provide a switch malfunction signal when one of the switches is defective, whereby boom extension or lowering are inhibited.

What I claim is: 
     
       1. An extensible boom safety control circuit comprising: a. means for generating a coded boom angle word representing the boom angle of elevation comprising a voltage divider network including a pendulum potentiometer having a plurality of sequential swept contacts for providing discrete voltage levels representing boom angles; and electrical contact means for contacting said swept contacts of said pendulum potentiometer; an electrical bus connected to said electrical contact means; a plurality of voltage comparators connected in parallel to said electrical bus for producing a parallel, coded word representing boom angle; and a plurality of voltage dividers for providing reference potentials for said plurality of comparators;   b. means for generating a coded boom length word representing boom length, comprising a plurality of microswitches connected in parallel and means responsive to boom length for actuating said microswitches in a mutually exclusive fashion;   c. boom angle logic means responsive to said boom angle word and said boom length word for generating a boom extension control signal, wherein said boom angle logic means comprises a plurality of 3-input NAND gates each of which includes a first input electrically connected to one of said comparators, a second input electrically connected via an inverter to a different one of said comparators, and a third input electrically connected to one of said microswitches, and an inhibit function NAND gate including an input for each of said 3-input NAND gates, said 3-input NAND gates each connected to one of said inputs; and   d. boom length logic means responsive to said boom length word and said boom angle word for generating a boom lowering control signal;   e. boom extension inhibit means responsive to said boom extension control signal for preventing boom extension; and   f. boom down inhibit means responsive to said boom lowering control signal for preventing boom lowering.   
     
     
       2. An extensible boom safety control circuit as defined in claim 1 wherein said boom length logic means comprises: a plurality of parallel, 2 input OR gates driven by the outputs of said comparators; a plurality of 2-input NAND gates, each having one input provided by one of said OR gates;   a NAND logic tree including a 2-input NAND gate, a 3-input NAND gate, a 4-input NAND gate, a 5-input NAND gate, and a 6-input NAND gate for providing second inputs to said plurality of 2-input NAND gates;   a plurality of inverters for applying an inverse function of said boom length word to said NAND gates of said NAND logic tree; and   a boom down inhibit NAND gate including a number of inputs equal to the number of said plurality of 2-input NAND gates, each of said 2-input NAND gates providing an input to said boom down inhibit NAND gate.   
     
     
       3. An extensible boom safety control circuit as defined in claim 2 said boom extension inhibit means comprising: a boom extension valve solenoid;   a boom extension control switch;   a boom extension amplifier for providing an energizing potential to said solenoid in response to closure of said boom extension control switch; and means to disable said boom extension amplifier in response to an output of said boom extension inhibit logic NAND gate.   
     
     
       4. An extensible boom safety control circuit as defined in claim 3 wherein said boom down inhibit means comprises: a boom down control valve solenoid;   a boom down control switch;   a boom down amplifier for providing an energizing potential to said solenoid in response to closure of said boom down control switch; and means to disable said boom down amplifier in response to an output from said boom down inhibit NAND gate.   
     
     
       5. An extensible boom safety control circuit as defined in claim 4, comprising: an individual light emitting diode connected to the output of each of said comparators.   
     
     
       6. An extensible boom safety control circuit as defined in claim 5, comprising: an individual light emitting diode electrically connected to the output of each of said microswitches.   
     
     
       7. A safety control circuit for a variable length boom extensible in a rectilinear direction along its axis and pivotable between a down position and an up position, said safety control circuit comprising: first means for generating a first coded word indicative of the angle of elevation of the boom from its down position;   second means for generating a second coded word indicative of the length of the boom;   boom extension control means disposable to a first state for permitting boom extension and to a second state for preventing boom extension;   boom lowering control means disposable to a first state for permitting boom lowering toward its down position and to a second state for preventing boom lowering to its down position;   first control logic responsive to the first and second coded words as indicative of an unstable boom condition for disposing said boom extension control means to its second state; and second control logic responsive to the first and second coded words as indicative of an unstable boom condition for disposing said boom lowering control means to its second state;   monitoring means responsive to said second coded word for providing an inhibit signal if said second means is malfunctioning, and said boom lowering control means responsive to said inhibit signal to be disposed to its second state.   
     
     
       8. A safety control circuit as claimed in claim 7 wherein said boom extension control means is responsive to said inhibit signal to be disposed to its second state. 
     
     
       9. A safety control circuit as claimed in claim 7 wherein said monitoring means comprises override switch means actuatable to provide an override signal and means responsive to said override signal for preventing the provision of said inhibit signal, whereby said boom lowering control means is disposed to its first state to permit the boom to be lowered. 
     
     
       10. A safety control circuit as claimed in claim 7, wherein said second generating means comprises a plurality of switches, each actuatable to provide an output, only one of said plurality of said switch means being actuatable at a time, said outputs of said plurality of switches forming the second coded word, said monitoring means responsive to the actuation of two or more of said plurality of switches for providing a first switch malfunction signal. 
     
     
       11. A safety control circuit as claimed in claim 10, wherein said monitoring means is responsive to the actuation of none of said plurality of switches for providing a second switch malfunction signal. 
     
     
       12. A safety control circuit as claimed in claim 10, wherein said boom lowering control means is responsive to the first switch malfunction signal to be disposed to its second state. 
     
     
       13. A safety control circuit as claimed in claim 11, wherein said boom extension control means is responsive to said second switch malfunction signal to be disposed to its second state. .Iadd. 
     
     
       14.  A safety control circuit for a variable length boom extensible in a rectilinear direction along its axis and pivotable between a down position and an up position, said safety control circuit comprising: (a) first means for generating a first manifestation indicative of the angle of elevation of the boom from its down position;   (b) second means for generating a second manifestation indicative of the length of the boom;   (c) boom extension control means disposable to a first state for permitting boom extension and to a second state for preventing boom extension;   (d) boom lowering control means disposable to a first state for permitting boom lowering towards its down position and to a second state for preventing boom lowering towards its down position;   (e) first control logic responsive to the first and second manifestations indicative of an unstable boom condition for disposing said boom extension control means to its second state; and   (f) second control logic operating independently of said first control logic to respond to the first and second manifestations indicative of an unstable boom condition for disposing said boom lowering control means to its second state, whereby one of said boom extension control means and said boom lowering control means may be disposed to its first state while the other of said boom extension control means and said boom lowering control control means is disposed to its second state. .Iaddend. .Iadd.   
     
     
       15.  The safety control circuit as claimed in claim 14, wherein said first generating means comprises a voltage divider network including a pendulum potentiometer having a plurality of sequential swept contacts for providing discrete voltage levels representing boom angles, electrical contact means for contacting said swept contacts of said pendulum potentiometer, an electrical bus connected to said electrical contact means, a plurality of voltage comparators connected in parallel to said electrical bus for producing a parallel, coded word representing boom angle, and a plurality of voltage dividers for providing reference potentials for said plurality of comparators. .Iaddend. .Iadd.16. The control circuit as defined in claim 15, wherein said second generating means comprises a plurality of comparators connected in parallel, and means responsive to boom length for activating said microswitches n a mutually exclusive fashion. .Iaddend. .Iadd.17. A safety control circuit for a variable length boom extensible in a rectilinear direction along its axis and pivotable between a down position and an up position, said safety control circuit comprising: (a) first means for generating a first manifestation indicative of the angle of elevation of the boom from its down position;   (b) second means for generating a second manifestation indicative of the length of the boom;   (c) boom extension control means disposable to a first state for permitting boom extension and to a second state for preventing boom extension;   (d) boom lowering control means disposable to a first state for permitting boom lowering toward its down position and to a second state for preventing boom lowering towards its down position;   (e) first control logic responsive to the first and second manifestations indicative of an unstable boom condition for disposing said boom extension control means to its second state; and   (f) second control logic operating independently of said first control logic to respond to the first and second manifestations indicative of an unstable boom condition for disposing said boom lowering control means to its second state, whereby said boom extension control means and said boom lowering control means are operative independently of each other to inhibit the extension of and the lowering of the boom, respectively, said first control logic being responsive to a first manifestation indicative of a first boom angle and a second manifestation indicative of a first boom length for disposing said boom extension control means to its second state, and said second control logic being responsive to said first manifestation indicative of said first given boom angle and to said second manifestation indicative of said first boom length for disposing said boom lowering control means to its first state, whereby the boom may be lowered   
     
     
        but not extended. .Iaddend. .Iadd.18.  The safety control circuit as claimed in claim 17, wherein said second control logic is responsive to a first manifestation indicative of a second boom angle less than said first boom angle and to said second manifestation indicative of said first boom length for disposing said boom lowering control means to its second state, whereby the boom may not be lowered. .Iaddend. .Iadd.19. The safety control circuit as claimed in claim 18, wherein said second control logic is responsive to said first manifestation indicative of said second boom angle and a second manifestation indicative of a second boom length less than said first boom length for disposing said boom lowering control means to its state. .Iaddend. .Iadd.20. The safety control circuit as claimed in claim 19, wherein said first control logic is responsive to said first manifestation indicative of said second boom angle and said second manifestation indicative of said second boom length for disposing said boom extension control means to its second state, whereby the boom may be 
     
     
        lowered but not extended. .Iaddend. .Iadd.21.  A safety control circuit for a variable length boom extensible in a rectilinear direction along its axis and pivotable between a down position and an up position, said safety control circuit comprising: (a) first means for generating a first manifestation indicative of the angle of elevation of the boom from its down position;   (b) second means for generating a second manifestation indicative of the length of the boom;   (c) boom extension control means disposable to a first state for permitting boom extension and to a second state for preventing boom extension;   (d) boom lowering control means disposable to a first state for permitting boom lowering toward its down position and to a second state for preventing boom lowering towards its down position;   (e) first control logic responsive to the first and second manifestations indicative of an unstable boom condition for disposing said boom extension control means to its second state; and   (f) second control logic operating independently of said first control logic to correspond to the first and second manifestations indicative of an unstable boom condition for disposing said boom lowering control means to its second state, whereby said boom extension control means and said boom lowering control means are operative independently of each other to inhibit the extension of and the lowering of the boom, respectively, said first control logic being responsive to a first manifestation indicative of boom elevation in a first range defined by a first, relatively high boom angle and a second, relatively low boom angle and including said first boom angle and to a second manifestation indicative of a first boom length for disposing said boom extension control means to its second state, and said second control logic being responsive to said first manifestation indicative of said first boom angle range and to said second manifestation indicative of said first boom length for disposing said boom lowering control means to its first state, whereby the boom may be lowered but not extended. .Iaddend. .Iadd.22. The safety control circuit as claimed in claim 21, wherein said second control logic is responsive to a first manifestation indicative of said second boom angle and to said second manifestation indicative of said first boom length for disposing said boom lowering control means to its second state, whereby the boom may not be lowered. .Iaddend. .Iadd.23. The safety control circuit as claimed in claim 22, wherein said second control logic is responsive to a first manifestation indicative of boom elevation in a second range defined by said second boom angle and a third boom angle lower than said second boom angle and including said second boom angle and to a second manifestation indicative of a second boom length less than said first boom length for disposing said boom lowering control means to its first state. .Iaddend.   
     
     
        .Iadd.24.  The safety control circuit as claimed in claim 23, wherein said first control logic is responsive to said first manifestation indicative of boom elevation in said second range and to said second manifestation indicative of said second boom length for disposing said boom extension control means to its second state, whereby the boom may not be extended. .Iaddend.