EP0063709B1 - Dispositif de commande de correction automatique de dévers pour échelle orientable déployable ou bras élévateur analogue sur véhicule - Google Patents

Dispositif de commande de correction automatique de dévers pour échelle orientable déployable ou bras élévateur analogue sur véhicule Download PDF

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Publication number
EP0063709B1
EP0063709B1 EP82102765A EP82102765A EP0063709B1 EP 0063709 B1 EP0063709 B1 EP 0063709B1 EP 82102765 A EP82102765 A EP 82102765A EP 82102765 A EP82102765 A EP 82102765A EP 0063709 B1 EP0063709 B1 EP 0063709B1
Authority
EP
European Patent Office
Prior art keywords
speed
tilt
electrical
correction
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP82102765A
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German (de)
English (en)
French (fr)
Other versions
EP0063709A1 (fr
Inventor
Claude Artaud
Michel Vincent
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Camiva SA
Original Assignee
Camiva SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Camiva SA filed Critical Camiva SA
Priority to AT82102765T priority Critical patent/ATE24466T1/de
Publication of EP0063709A1 publication Critical patent/EP0063709A1/fr
Application granted granted Critical
Publication of EP0063709B1 publication Critical patent/EP0063709B1/fr
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B66F11/046—Working platforms suspended from booms of the telescoping type
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
    • E06C5/32—Accessories, e.g. brakes on ladders
    • E06C5/40—Devices for canting ladders laterally

Definitions

  • the present invention relates to an automatic tilt correction control device for an adjustable lifting arm mounted on a vehicle, in particular for a deployable orientable ladder, comprising a turret orientable around an axis and comprising a part articulated around an axis substantially horizontal and displaced. around this axis by a tilt corrector actuator controlled by a proportional electrical control member, the turret being subjected to a pivoting actuator with proportional control to an electrical signal representative of the controlled pivot speed and comprising a electrical sensor for measuring the pivoting angle of the arm.
  • Patent DE 2,947,303 discloses an elevator arm control device using a microcomputer. The movement of the lifting arm does not allow tilt correction.
  • Control devices which allow tilt correction, in particular by FR 2,188,036 or DE 2,036,559. They have the disadvantage of being of the all or nothing control type and of acting in fits and starts during pivoting or at the end of pivoting in an even more troublesome manner.
  • the object of the present invention is to link the tilt correction with the pivoting control. It will be noted that an advantage of the control device according to the invention also lies in that, starting from the measurements of vehicle slopes constantly taken into account by the microprocessor, it takes account of the variations in slope which may occur during use by modification of the sinking of the stabilizers in the ground, which is not the case with known devices in which the superelevation is corrected. from an initial or periodic adjustment for horizontal positioning of the turret.
  • the automatic tilt correction control device for a deployable orientable ladder or a similar lifting arm on a vehicle of the predefined type, is characterized in that it comprises electrical sensors for measuring the slope of the vehicle in two transverse directions relative to one another, associated with a microprocessor having inputs for acquiring the above-mentioned slope measurements and further comprising in memory, a cyclic calculation sequence of the theoretical speed of tilt correction determined from the value of the signal representative of the slewing speed and as a function of the data from the above-mentioned electrical slope measurement sensors, with a view to providing on a microprocessor output connected to said proportional electrically controlled member of the tilt correction actuator, a signal representative of the tilt correction speed linking the latter temporally to the slewing speed.
  • control device then comprises an electrical sensor for measuring the tilt angle associated with an input for acquiring said measurement by the microprocessor, the latter further comprising in memory a cyclic calculation sequence of the theoretical superelevation angle as a function of the data acquired for measuring the orientation angle of the scale and of the aforementioned slopes, as well as a cyclic calculation sequence intended to add, to the predefined theoretical slope correction speed, a speed correction value as a function of the difference between the value of the above-mentioned theoretical slope angle and the value of the slope angle acquired from the corresponding aforementioned sensor.
  • An orientation turret 4 which can pivot relative to the chassis about an axis 4a (angle 8).
  • This turret further comprises a part 5 articulated around a horizontal axis 5a in order to maintain the axis of the ladder elements in a vertical plane passing through this axis even when the vehicle is tilted, in order to cancel any slope by variation of angle 8.
  • a ladder support 6 called cradle, arti rolled around a horizontal axis 6a, and which makes it possible to vary the angle of dressing a of the scale. From four telescopic ladder planes 7, 8, 9, 10 with simultaneous development.
  • a removable rescue platform 11 articulated at the end of the ladder plane 10 along an axis 12 so as to be able to maintain the horizontality of its floor during the training or lowering movements (angle ⁇ ).
  • the controls of the various movements of the scale are here provided by means of an MPU microprocessor as illustrated in the diagram in FIG. 2, and can be in particular according to specific provisions which were the subject of the patent application in France of the plaintiff n ° 81 04 449 of March 5, 1981.
  • the position information of the scale delivered by the various sensors are read periodically by the microprocessor and stored in memory.
  • the microprocessor processes this data and compares the state of the scale to usage limits stored in permanent memory.
  • the commands for controlling the movements given by the operator in the form of electrical signals representative of the direction and the speed of control penetrate the microprocessor; they are validated or modified according to the result of the comparison of the state of the scale with the abovementioned limits of use and then transmitted to the power control members, in particular involving a progressive deceleration of the movements before total stopping.
  • Fig. 3 illustrates the general constitution of the electronic microprocessor system for its only parts relating to the pivoting command and to the tilt correction command which is linked to it.
  • This system includes an MPU microprocessor, here the 6802 from MOTOROLA, which coordinates all the functions of the system and has an internal working memory of 128 bytes.
  • An external RAM working memory here the 6810 from MOTOROLA. It is in this memory that the external parameters and the results of the calculations are stored. (128 bytes in addition to the 128 bytes of the MPU).
  • BUS ADDRESSES set of wires comprising the coding of the locations or destinations of the information conveyed by the DATA BUS.
  • CONTROL BUS set of wires through which the signals pass. auxiliary commands validating the addresses and data transfers.
  • the control commands for the three movements of the scale are of the analog type and applied in the form of electrical voltage to the input terminals E1 to E3 of a multiplexer 13, here IH 6116 from TEKELEC, as is applied: at input E4, the voltage from an angular encoder or potentiometric sensor for measuring the orientation angle of the scale; at input E5 the voltage from an ihclinometer for measuring the slope of the chassis of the vehicle in the longitudinal direction; at input E6 the voltage from an inclinometer for measuring the slope of the vehicle chassis in the transverse direction; at the input E7, the voltage from an angular encoder or potentiometric sensor for measuring the cant angle existing between the turret 4 and its orientable part 5, and therefore between the chassis and the ladder.
  • the multiplexer 13 is followed by an analog / digital converter 14 connected to the interface for adapting the inputs PIA1.
  • the PIA2 adaptation interface cooperates with a control circuit 15 for the inputs and with output circuits constituted in particular by digital / analog converters such as 16, with analog output S1 proportional to the value of the pivot speed of the scale on the right or on the left determined by the microprocessor (and whose polarity defines the direction) and 17, with analog output S2 proportional to the value of superelevation correction speed determined by the microprocessor and whose polarity also determines the direction of correction.
  • a decoder here 74 LS 138 from MOTOROLA serves as a demultiplexer for the control circuit for inputs 15 and the output circuits with digital / analog converter such as 16 and 17.
  • Fig. 4 illustrates the hydraulic control of the pivoting and tilt correction movements considered here, which are respectively provided by a hydraulic motor 18 with two opposite directions of supply according to the desired direction of pivoting of the turret 4, and by two hydraulic jacks 19 and 20 interposed between the turret 4 and its annex part 5 on either side of the tilting axis 5a of the latter, in two opposite supply directions according to the direction of the tilt correction to be applied.
  • a variable flow pump 21 supplies the turret of the installation, via a rotary joint 22, from a reservoir 23.
  • a three-position solenoid valve 24 supplies the hydraulic motor 18 in one direction or in the 'other according to the pivoting commanded to the right or left of the scale.
  • a three-position solenoid valve 25 supplies the jacks 19, 20 in one direction or the other, depending on the direction of the slope correction to be applied.
  • These solenoid valves 24, 25 are of the proportional type, that is to say that they deliver a flow proportional to the control voltage of their coil, depending respectively on the output voltages of the digital / analog converters 16 and 17.
  • a solenoid valve 26 energized as soon as one of the solenoid valves 24, 25 is also energized, and which serves to apply to the pump 21 the maximum pressure information necessary in the feed circuit or circuits involved, with a view to adapting its displacement to the required operating pressure and to the just necessary feed flow. In the absence of control voltage of the solenoid valve 26, the displacement of the pump 21 is then set or reduced to zero.
  • the flow diagram of the automatic tilt correction control device is shown in FIG. 5, with calculations carried out on the basis of the following conventions: the pivoting angle 8 of the scale is measured counterclockwise from the longitudinal axis of the vehicle, the origin being taken forward; the longitudinal slope P1 of the vehicle is considered from the rear to the front of the vehicle, positive if it is rising and negative if it is falling; the transverse slope Pt of the vehicle is considered from the right to the left of the vehicle, positive if it is rising and negative if it is falling; the slope angle 8 is considered from the rear of the vehicle, positive on the right and negative on the left with respect to the vertical plane passing through the axis 5a.
  • the microprocessor program causes it to acquire in memory the longitudinal slope measurement of the chassis P1 carried out using the corresponding inclinometer connected to the input E5 of the multiplexer 13 , and the transverse slope measurement Pt carried out using the corresponding inclinometer connected to the input E6 of the multiplier 13.
  • the microprocessor also stores the measurement of the pivot angle 8 of the scale carried out at using the sensor or encoder connected to the input E4 of the multiplexer 13 followed by the storage of the measurement of the tilt angle 8 carried out using the sensor or encoder connected to the input E7 of the multiplexer 13 Then the pivot control test is carried out, that is to say that the value of the output voltage S1 of the digital / analog converter 16 controlling the pivoting of the scale is examined.
  • a comparison test is then provided in the microprocessor between this superelevation correction speed 8 ° r, taken in absolute value, and a minimum speed value accepted so that there is a correction signal emitted on the output S2 of the converter. digital / analog 17.
  • This test is followed by a speed sign test ⁇ ° r, that is to say that if it is positive, the output S2 will be assigned the positive sign and vice versa if the speed ⁇ ° r is negative.
  • the device according to the invention is not of limited application with a general microprocessor control of the functions for implementing the ladder or the lifting arm, but it still applies with advantage to any installation with pivoting actuator proportional control responding to a representative electrical signal: of the speed controlled, whatever the type.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Ladders (AREA)
  • Control Of Position Or Direction (AREA)
  • Vehicle Body Suspensions (AREA)
  • Steps, Ramps, And Handrails (AREA)
EP82102765A 1981-04-22 1982-04-01 Dispositif de commande de correction automatique de dévers pour échelle orientable déployable ou bras élévateur analogue sur véhicule Expired EP0063709B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT82102765T ATE24466T1 (de) 1981-04-22 1982-04-01 Steuerungsvorrichtung zum automatischen korrigieren der schiefstellung einer ausfahrbaren drehleiter oder eines entsprechenden hebearmes auf fahrzeugen.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8108037 1981-04-22
FR8108037A FR2504701A1 (fr) 1981-04-22 1981-04-22 Dispositif de commande de correction automatique de devers pour echelle orientable deployable ou bras elevateur analogue sur vehicule

Publications (2)

Publication Number Publication Date
EP0063709A1 EP0063709A1 (fr) 1982-11-03
EP0063709B1 true EP0063709B1 (fr) 1986-12-30

Family

ID=9257672

Family Applications (1)

Application Number Title Priority Date Filing Date
EP82102765A Expired EP0063709B1 (fr) 1981-04-22 1982-04-01 Dispositif de commande de correction automatique de dévers pour échelle orientable déployable ou bras élévateur analogue sur véhicule

Country Status (6)

Country Link
EP (1) EP0063709B1 (es)
AT (1) ATE24466T1 (es)
DE (1) DE3274842D1 (es)
ES (1) ES510782A0 (es)
FR (1) FR2504701A1 (es)
MA (1) MA19453A1 (es)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2587320B1 (fr) * 1985-09-16 1987-12-18 Manjot Roger Procede de controle de la stabilite d'une grue mobile.
DE3613870A1 (de) * 1986-04-24 1987-10-29 Mo N Proizv Ob Str Dorozh Mash Einrichtung fuer den ueberlastungs- und kippschutz von hebezeugen
DE3743546A1 (de) * 1987-12-22 1989-07-13 Iveco Magirus Einrichtung zur steuerung des niveauausgleichs eines arbeitsgeraetes, insbesondere einer fahrbaren hoehenverstellbaren feuerwehrdrehleiter
DE3807966A1 (de) * 1988-03-10 1989-09-21 Ruthmann Anton Gmbh & Co Hubarbeitsbuehne mit prozessorsteuerung
DE3825129A1 (de) * 1988-07-23 1990-01-25 Ruthmann Anton Gmbh & Co Hydrauliksteuerung fuer den schwenkarm einer hubarbeitsbuehne
JPH085623B2 (ja) * 1989-09-27 1996-01-24 株式会社神戸製鋼所 クレーンの安全装置
SE467408B (sv) * 1990-11-16 1992-07-13 Hiab Ab Saett och anordning foer foerhindrande av punktering av ett lastkaennande och tryckkompenserande styrsystem foer en hydraulisk kran
GB9326347D0 (en) * 1993-12-23 1994-02-23 Grove Europ Limited Improvements in and relating to telescopic booms
ES2139174T3 (es) * 1994-02-28 2000-02-01 Plasser Bahnbaumasch Franz Maquina rodable sobre vias con una grua giratoria.
DE19525695A1 (de) * 1995-07-14 1997-01-16 Wegmann & Co Gmbh Fahrzeug, insbesondere Kampffahrzeug mit einer Hubplattform
DE19946411A1 (de) * 1999-09-28 2001-04-26 Metz Aerials Gmbh & Co Kg Verfahren und Vorrichtung zur Bewegung eines Auslegers eines Arbeits- oder Rettungsgeräts
WO2001058246A1 (en) * 2000-02-14 2001-08-16 Source Holdings Ltd. Harvesting apparatus for tall-growing crops
DE10242270B4 (de) * 2002-09-11 2009-04-02 Elevant Produktion Gmbh Vorrichtung zur erweiterten Reichweitenabschaltung für Hubarbeitsbühnen bei Schrägaufstellung
FR2924703B1 (fr) * 2007-12-11 2010-01-15 Gimaex Internat Dispositif elevateur aerien et vehicule equipe d'un tel dispositif
FI122429B (fi) * 2008-12-29 2012-01-31 Bronto Skylift Oy Ab Menetelmä henkilönostimen puomin taipuman mittaamiseksi, henkilönostin sekä mittausjärjestelmä
IT1393982B1 (it) * 2009-04-27 2012-05-17 B P E S R L Procedimento e dispositivo per il controllo adattativo dell inclinazionedel cestello di piattaforme aeree
IT1393981B1 (it) * 2009-04-27 2012-05-17 B P E S R L Procedimento per il controllo non lineare dell inclinazionedel cestello di piattaforme aeree
GB2471134B (en) 2009-06-19 2012-10-10 Bamford Excavators Ltd Speed sensitive longitudinal load moment control of a working machine
DE102016000531A1 (de) * 2016-01-21 2017-07-27 Putzmeister Engineering Gmbh Mobiles Arbeitsgerät
CN106379851B (zh) * 2016-09-28 2019-01-25 成都凯天电子股份有限公司 机务维护工作平台
IT201700084735A1 (it) * 2017-07-25 2019-01-25 Hyva Holding Bv Sistema di livellamento per macchine operatrici.
CN111825035A (zh) * 2019-04-19 2020-10-27 湖北省专用汽车研究院 一种面向混合臂式高空作业车的智能缓冲控制系统及方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2902212A (en) * 1954-04-13 1959-09-01 Sperry Rand Corp Trunnion tilt corrector
FR1466308A (fr) * 1965-08-18 1967-01-20 Licentia Gmbh Dispositif pour stabiliser une plate-forme par rapport à un support mobile
DE2227406C3 (de) * 1972-06-06 1980-06-04 Carl Metz Gmbh, 7500 Karlsruhe Fahrbare Drehleiter
FR2188036B1 (es) * 1972-06-06 1977-02-11 Metz Gmbh Carl
DE2830515C2 (de) * 1978-07-12 1980-05-29 Magirus-Deutz Ag, 7900 Ulm Einrichtung zur automatischen Steuerung der am Drehgestell eines höhenveränderlichen Arbeitsgerätes vorgesehenen Stellringe zum lotrechten Ausrichten der Hochachse des über das Drehgestell verbundenen Geräteaufbaues
DE2839419A1 (de) * 1978-09-11 1980-03-27 Krupp Gmbh Drehwinkelmesseinrichtung
SE419211B (sv) * 1978-12-15 1981-07-20 Jan Axel Gunnar Ekman Anordning for styrning av luftsystem

Also Published As

Publication number Publication date
FR2504701B1 (es) 1984-03-30
MA19453A1 (fr) 1982-12-31
ES8303733A1 (es) 1983-02-01
FR2504701A1 (fr) 1982-10-29
ATE24466T1 (de) 1987-01-15
DE3274842D1 (en) 1987-02-05
ES510782A0 (es) 1983-02-01
EP0063709A1 (fr) 1982-11-03

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