EP0252841A1 - Automatische Steuerungsvorrichtung der Verzögerung der Umdrehung eines Auslegers und/oder eines Gegenauslegers von Hebewerkzeugen - Google Patents

Automatische Steuerungsvorrichtung der Verzögerung der Umdrehung eines Auslegers und/oder eines Gegenauslegers von Hebewerkzeugen Download PDF

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Publication number
EP0252841A1
EP0252841A1 EP87401602A EP87401602A EP0252841A1 EP 0252841 A1 EP0252841 A1 EP 0252841A1 EP 87401602 A EP87401602 A EP 87401602A EP 87401602 A EP87401602 A EP 87401602A EP 0252841 A1 EP0252841 A1 EP 0252841A1
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EP
European Patent Office
Prior art keywords
speed
orientation
determined
flip
counter
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EP87401602A
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English (en)
French (fr)
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EP0252841B1 (de
Inventor
André Bastier
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MATERIEL INDUSTRIEL ET D'EQUIPEMENT Ste
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MATERIEL INDUSTRIEL ET D'EQUIPEMENT Ste
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical

Definitions

  • the present invention relates to a device for controlling automatic slowdown of the rotation of jibs and / or jibs of lifting devices.
  • the current recommendations defined by the safety organizations, impose to proceed to a slowing down then to the automatic stopping of the lifting devices when they are exposed to a risk of collision between them, interactive system, or with a fixed obstacle, for example a building, or quite simply when their load will reach, during its displacement, an area whose overflight by the load is prohibited, for example a schoolyard or any other public place.
  • the different zones are determined in situ.
  • the zone prohibited for the load will be schematically defined by: - an area between the circle described by the maximum extension point of the Emax load-carrying trolley, and the circle described by the trolley when it is tangent to the prohibited space during rotation, and - the angle ⁇ between the points where the Emax circle intersects the edge of the prohibited space.
  • a slowdown zone is also defined in the vicinity thereof.
  • This slowdown zone ZR will be defined by an angle of rotation ⁇ + 2 ⁇ , ⁇ being an angle of rotation situated on either side of the angle ⁇ , and by the circle described by the carriage at a certain distance, determined by the type of crane, less than that where it will pitch the prohibited area.
  • a dangerous area ZD determined as above for the "high" crane, that is to say, the one whose boom travels in a higher plane, and, for the low crane, only by the angle ⁇ of rotation of its boom or its counter-arrows between the ends of the ZD area.
  • the slowdown zones ZR1 and ZR zones are determined identically. However, in this case, the ZD zone is only prohibited when loading the high crane when the boom or jib of the low crane is already there and when the boom or jib of the low crane is loaded. the high crane is already there.
  • the movement must be slowed down anyway when the load of the high crane or the jib or the jib of the low crane enters the zones ZR1 or ZR2 respectively, the stop being ordered for one of the cranes only when the other crane is already interfering with the ZD zone.
  • the cranes that are currently encountered on construction sites are provided with an integrated retarder system operating for example by eddy currents.
  • the slowing down and possible stopping of the boom rotation, distribution and lifting are then controlled by an electronic zone determination system comprising: - an angular position sensor which was initially positioned "0" on the site and which measures the orientation angle of (rotation) of the boom; - a sensor for measuring the distance from the distributor carriage (load carrier) on the boom from the barrel or from a point determined by the manufacturer; - a load height sensor indicating the distance of the load to the boom or to a point determined by the manufacturer, by measuring the length of the unwound cable.
  • the information obtained by these sensors is sent to the zone determination device which processes them, preferably in analog, to trigger the operations imposed by the different zones (prohibited, dangerous, slowing down).
  • the zone determination device automatically controls the crane slowdown system when all the parameters it has received from the sensors and which it has processed indicate the crossing the limit of the braking zone and the obligation to slow down movements and possibly stop them. This is the subject of French Patent No. 81 229 ⁇ .
  • the zone determination device then sends a signal acting on the retarder voltage and possibly on that of the stop systems.
  • the object of the invention is therefore to allow the slowing down and the automatic stopping of the machines when safety requires it by adapting the known zone determination system to the machines not provided with an auxiliary braking reacting to its control signal.
  • the acquisition of the speed value can be obtained by a tachometer, a DC servo motor or any other means.
  • the measurement made is therefore a function of the orientation speed of the machine (the boom of a crane for example) and allows the direction of rotation to be defined first.
  • the braking of the rotation is then done by pulses controlling the motor in counter-orientation.
  • the speed measurement makes it possible to determine in which direction the machine is oriented, either to the right or to the left.
  • Figure 3 shows the measurement signal as a function of the slewing speed of the boom of a crane.
  • the positive (increasing) signal corresponds to a rotation to the right and the negative (decreasing) signal corresponds to a rotation to the left.
  • the tension increases or decreases depending on the orientation speed.
  • V ⁇ , V1, V2 ... V X correspond to the speeds from which the driver changes to the higher gear to accelerate the movement, that is to say, first gear from V ⁇ to V1, second ratio of V1 to V2, etc.
  • the device which receives the measurement signal of the arrow's orientation speed, emits an output signal formed by a train of pulses towards the drive motor (s), making it possible to carry out the counter-orientation, and to obtain braking and possibly stopping.
  • the width T1 of each pulse will determine a braking activation time and the period T2 the time after which the braking is activated again. The entire pulse train thus formed corresponding to the total braking time.
  • the amplitude of the pulses is constant and braking is done by lows of duration T1.
  • V ⁇ and V R (fig.3), the speed is low and the boom can be stopped. From V R we will have to proceed with the counter-orientation, therefore a gradual slowing down. possibly up to a stop.
  • the pulse duration T1 and the repetition period T2 will be modulated as a function of the orientation speed.
  • T1 and T2 will have a certain value.
  • T1 will increase and T2 decrease, and so on until V X.
  • V R the speed of rotation falls to V R , and below this value, the arrow will be stopped (prohibited zone) or turn in idle (dangerous zone).
  • the device intended for implementing the method according to the invention is shown in FIG. 5, in the case of a crane with 5 speed ratios.
  • M is the member for measuring the orientation speed of the crane jib
  • RL and RL ⁇ are output members (relays) making it possible to act directly on the machine, for a counter-orientation towards the left (RL), and a counter-orientation towards the right (RL ⁇ ).
  • the components B1 to B5 are monostable flip-flops allowing to define the times T1 and T2. Each scale has its own train of pulses corresponding to the speed interval to which it is assigned. (B1 from V R to V2, B2 from V2 to V3 ... etc.).
  • the elements C1 to C5 are comparators making it possible to define the thresholds, initialized at the start, from which the process must be triggered.
  • the speed measuring device M permanently sends a signal V, a function of speed, to the comparators C1 to C5. As long as the limit of a slowdown zone is not reached, the zone determination device sends a signal I to the comparators C1 to C5 which blocks their output; no signal is then transmitted to the flip-flops B1 to B5 which are not activated.
  • the zone determination device detects the crossing of the limit of a slowdown zone, the signal I is no longer transmitted to the comparators which become operational.
  • the flip-flop thus activated will emit on the one hand a signal I ⁇ inhibiting the flip-flops corresponding to lower values of V, and on the other hand the train of pulses corresponding to the speed interval which is assigned to it, that is to say with determined times T1 and T2.
  • This train of pulses will act via the relay RL or RL ⁇ on the supply of the engine or engines of the machine.
  • the device works as follows:
  • the zone determination system When the crane boom approaches a prohibited area, for example by turning to the right, it rotates at a speed greater than V5. As soon as it crosses the threshold of the ZR deceleration zone, the zone determination system signals this crossing and no longer sends the signal I to the braking control device according to the invention.
  • the latter receiving the speed indication signal V from the measuring member M, its comparator C5 (corresponding to a speed greater than or equal to V5), thus activated, in turn activates the rocker B5 by a signal Z and inhibits flip-flops B1 to B4 by a signal I ⁇ .
  • the flip-flop B5 sends a pulse train of width T1 and period T2 to the relay RL which will command a counter-orientation to the left.
  • the speed of rotation of the arrow gradually falling below V5 will therefore be between V4 and v5, it is the comparator corresponding to V4 which takes over, activates the flip-flop B4 which inhibits by a signal I ⁇ the flip-flops B1 to B3 .
  • the time T1 takes a lower value and T2 a larger value. It is the same when the speed drops below V3 then V2 and V R. Arrived below this last value, in the example described, the crane can be stopped immediately without danger or remain at low speed.
  • the embodiment of the device according to the invention shown in FIG. 6 comprises only a single comparator controlled by the member for measuring the orientation speed M and by the device for determining zones.
  • the comparator C activates one or the other of the flip-flops B and B ⁇ , whose pulse train is no longer determined but varies as a function of the value of the signal V transmitted by the measuring member M.
  • the times T1 and T2 will vary according to the value of V but instead of varying in stages, they will vary gradually so that at any instantaneous speed V corresponds to a value T1 and a value T2.
  • the entrance to a prohibited zone ZI is located at an angle ⁇ 1 from the Opredetermined origin.
  • An angle ⁇ ⁇ is then determined slightly less than the angle ⁇ 1 (for example 50) from which the orientation movement must be slowed down to a stop, this must imperatively occur at the latest when the angle ⁇ 1 is reached.
  • a speed V1 is then defined beyond which the deceleration will be automatic if at the entry of the deceleration zone the orientation speed V of the arrow is greater than V1.
  • V1 has a value of around 3 ⁇ % of the nominal orientation speed.
  • the device works as follows:
  • the zone determination device continues to send the signal I to the comparator C which also receives the signal V corresponding to the orientation speed.
  • the scales B and B ⁇ are always inhibited and the crane operator continues to carry out the counter-orientation until the crane comes to a complete stop before reaching the angle ⁇ ⁇ .
  • it can only use the ratios corresponding to the speeds between V ⁇ and V4 mentioned above for this.
  • the zone determination device also limits the speed ratios of the carriage to the ratio 1 by preventing the use of the ratios 2 and 3.
  • the counter-orientation is immediately triggered and the device for determining the zones causes the orientation to stop immediately by applying the brakes which immobilize the boom before the angle ⁇ 1 is reached.
  • the system proceeds to automatic counter-orientation.
  • the zone determination device no longer sends a signal I to comparator C which immediately transmits a signal Z or Z ⁇ to flip-flop B or B ⁇ according to the sign of signal V.
  • V V AL slightly lower than V1 in order to warn the crane operator that he will exceed the speed limit. If despite this it allows the speed to increase, the system triggers, as soon as V1 is reached, the counter-orientation process until it stops. Stopping can occur for example in V2 according to FIG. 8. The restarting takes place as above until ⁇ reaches the value ⁇ ⁇ . If the speed V is not zero for this value of ⁇ , the counter-orientation is triggered up to a zero speed. The brakes automatically drop to lock the boom if the speed is zero without the counter-orientation being engaged.
  • the angle ⁇ ⁇ is determined so that the counter-orientation allows the complete stop at a point ⁇ 1 then located between ⁇ ⁇ and ⁇ 1.
  • the orientation in the opposite direction of the arrow can be carried out at high speed, (up to V5) and, when the stop has occurred between ⁇ ⁇ and ⁇ 1, the brakes are then automatically disengaged service.
  • the flip-flops B1 to B5 and B ⁇ 1 to B ⁇ 5 emit a single pulse.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)
EP19870401602 1986-07-09 1987-07-08 Automatische Steuerungsvorrichtung der Verzögerung der Umdrehung eines Auslegers und/oder eines Gegenauslegers von Hebewerkzeugen Expired - Lifetime EP0252841B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8609990A FR2601348B1 (fr) 1986-07-09 1986-07-09 Dispositif de commande de ralentissement automatique de la rotation de fleches et/ou de contrefleches d'engins de levage
FR8609990 1986-07-09

Publications (2)

Publication Number Publication Date
EP0252841A1 true EP0252841A1 (de) 1988-01-13
EP0252841B1 EP0252841B1 (de) 1990-01-03

Family

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Family Applications (1)

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EP19870401602 Expired - Lifetime EP0252841B1 (de) 1986-07-09 1987-07-08 Automatische Steuerungsvorrichtung der Verzögerung der Umdrehung eines Auslegers und/oder eines Gegenauslegers von Hebewerkzeugen

Country Status (4)

Country Link
EP (1) EP0252841B1 (de)
DE (1) DE3761304D1 (de)
ES (1) ES2015071B3 (de)
FR (1) FR2601348B1 (de)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2638151A1 (fr) * 1988-10-24 1990-04-27 Materiel Indl Equipement Procede de selection de zone
FR2638440A1 (fr) * 1988-11-03 1990-05-04 Grp Francais Construction Installation d'assistance a la conduite pour engins de manutention tels que des grues
EP0382231A1 (de) * 1989-02-09 1990-08-16 Man Ghh Logistics Gmbh Verfahren und Anordnung zur Begrenzung des Bewegungsbereichs eines Krans
GB2243141A (en) * 1990-04-11 1991-10-23 Kubota Kk Backhoe
WO1992020608A1 (de) * 1991-05-10 1992-11-26 Pietzsch Automatisierungstechnik Gmbh Verfahren zum begrenzen des arbeitsbereichs bei einem arbeitsmittel mit einem verfahrbaren ausleger
FR2699520A1 (fr) * 1992-12-17 1994-06-24 Euro Montage Installation pour empêcher une collision entre la flèche d'une grue basse et la charge suspendue au chariot d'une grue haute.
GB2275462B (en) * 1992-05-19 1996-05-22 Komatsu Mfg Co Ltd Apparatus for limiting the operating envelope of a working tool
US9187295B2 (en) 2006-08-31 2015-11-17 Liebherr-Werk Nenzing Gmbh Safety and control method for cranes

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1218798A (en) * 1968-11-05 1971-01-13 Johnson & Wayne Ltd Improvements in or relating to slewing jib cranes having safety apparatus
FR2263191A1 (de) * 1974-03-04 1975-10-03 Shimizu Construction Co Ltd
US4064997A (en) * 1976-03-29 1977-12-27 Eugene Richard Holland Crane swing safety control
FR2458504A1 (fr) * 1979-06-11 1981-01-02 Simon Francois Procede et dispositif pour la detection d'interferences d'engins de levage
EP0087198A2 (de) * 1982-02-24 1983-08-31 Philips Norden AB Verfahren und Gerät zum Schutz gegen Zusammenstösse von zwei gegeneinander bewegbaren Körpern
FR2537119A1 (fr) * 1982-12-02 1984-06-08 Chantiers Modernes Sa Dispositif de securite adaptable aux fleches de grues destinees a se survoler
FR2550520A1 (fr) * 1983-08-12 1985-02-15 Causse Antoine Dispositif d'interdiction automatique du deplacement dans une zone predeterminee d'un bras de levage orientable

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1218798A (en) * 1968-11-05 1971-01-13 Johnson & Wayne Ltd Improvements in or relating to slewing jib cranes having safety apparatus
FR2263191A1 (de) * 1974-03-04 1975-10-03 Shimizu Construction Co Ltd
US4064997A (en) * 1976-03-29 1977-12-27 Eugene Richard Holland Crane swing safety control
FR2458504A1 (fr) * 1979-06-11 1981-01-02 Simon Francois Procede et dispositif pour la detection d'interferences d'engins de levage
EP0087198A2 (de) * 1982-02-24 1983-08-31 Philips Norden AB Verfahren und Gerät zum Schutz gegen Zusammenstösse von zwei gegeneinander bewegbaren Körpern
FR2537119A1 (fr) * 1982-12-02 1984-06-08 Chantiers Modernes Sa Dispositif de securite adaptable aux fleches de grues destinees a se survoler
FR2550520A1 (fr) * 1983-08-12 1985-02-15 Causse Antoine Dispositif d'interdiction automatique du deplacement dans une zone predeterminee d'un bras de levage orientable

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2638151A1 (fr) * 1988-10-24 1990-04-27 Materiel Indl Equipement Procede de selection de zone
FR2638440A1 (fr) * 1988-11-03 1990-05-04 Grp Francais Construction Installation d'assistance a la conduite pour engins de manutention tels que des grues
EP0382231A1 (de) * 1989-02-09 1990-08-16 Man Ghh Logistics Gmbh Verfahren und Anordnung zur Begrenzung des Bewegungsbereichs eines Krans
GB2243141A (en) * 1990-04-11 1991-10-23 Kubota Kk Backhoe
GB2243359A (en) * 1990-04-11 1991-10-30 Kubota Kk Backhoe
GB2243359B (en) * 1990-04-11 1994-11-09 Kubota Kk Drive systems for backhoe boom assemblies
GB2243141B (en) * 1990-04-11 1994-11-23 Kubota Kk Backhoe
WO1992020608A1 (de) * 1991-05-10 1992-11-26 Pietzsch Automatisierungstechnik Gmbh Verfahren zum begrenzen des arbeitsbereichs bei einem arbeitsmittel mit einem verfahrbaren ausleger
GB2275462B (en) * 1992-05-19 1996-05-22 Komatsu Mfg Co Ltd Apparatus for limiting the operating envelope of a working tool
FR2699520A1 (fr) * 1992-12-17 1994-06-24 Euro Montage Installation pour empêcher une collision entre la flèche d'une grue basse et la charge suspendue au chariot d'une grue haute.
US9187295B2 (en) 2006-08-31 2015-11-17 Liebherr-Werk Nenzing Gmbh Safety and control method for cranes

Also Published As

Publication number Publication date
FR2601348A1 (fr) 1988-01-15
EP0252841B1 (de) 1990-01-03
FR2601348B1 (fr) 1988-10-28
ES2015071B3 (es) 1990-08-01
DE3761304D1 (de) 1990-02-08

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