EP0252841B1 - 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
EP0252841B1
EP0252841B1 EP19870401602 EP87401602A EP0252841B1 EP 0252841 B1 EP0252841 B1 EP 0252841B1 EP 19870401602 EP19870401602 EP 19870401602 EP 87401602 A EP87401602 A EP 87401602A EP 0252841 B1 EP0252841 B1 EP 0252841B1
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EP
European Patent Office
Prior art keywords
speed
slewing
monostable
orientation
signal
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 - Lifetime
Application number
EP19870401602
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English (en)
French (fr)
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EP0252841A1 (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 method and a device for controlling slowdown and automatic stopping of the rotation of jibs and / or counter-jibs of lifting devices.
  • the current recommendations defined by the safety organizations, impose to slow down and then automatically stop 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.
  • a slowdown zone is also defined in the vicinity thereof.
  • This slowdown zone ZR will be defined by an angle of rotation a + 2 ⁇ , being an angle of rotation situated on either side of the angle a, and by the circle described by the carriage at a certain distance, determined by the type of crane, less than 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 aE of rotation of its boom or its counter-arrows between the ends of the ZD area.
  • ZR slowdown zones ! and ZR @ are determined identically.
  • 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 ZR zones! or ZR @ respectively, the stop being ordered for one of the cranes only when the other crane is already interfering with the ZD area.
  • 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 of the parameters it has received from the sensors and which it has processed indicate that it has crossed the braking zone limit and the obligation to slow down the movements and possibly stop them. This is the subject of patent FR-A-2,517,659.
  • the zone determination device then sends a signal acting on the voltage of the retarder and possibly on that of the stop systems.
  • the object of the invention is to allow the ra slowdown and automatic stopping of vehicles when safety requires by adapting the known zone determination system to vehicles not equipped with an auxiliary brake 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 carried out is therefore a function of the orientation speed of the machine (the boom of a crane for example) and makes it possible first of all to define the direction of rotation.
  • 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.
  • the values Vo, Vi, V 2 ... 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 0 to V 1 , second ratio from V 1 to V 2 , 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 or motors, making it possible to carry out the counter-orientation, and to obtain braking and possibly stopping.
  • the width Ti of each pulse will determine a braking activation time and the period T2 the time after which the braking is activated again. The whole train of pulses thus formed corresponding to the total braking time.
  • the amplitude of the pulses is constant and braking is done by short strokes of duration Ti.
  • a speed V R is defined above which it will be necessary to slow down.
  • V 0 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 Ti and the repetition period T 2 will be modulated as a function of the orientation speed.
  • Ti and T 2 will have a certain value.
  • T 1 will increase and T 2 decrease, and so on until Vx.
  • V R the speed of rotation
  • 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 to the left (RL), and a counter-orientation to the right (RL ').
  • the components Bi to Bs are monostable flip-flops enabling the times Ti and T 2 to be defined. Each scale has its own train of pulses corresponding to the speed interval to which it is assigned. (Bi from V R to V 2 , B 2 from V 2 to V 3 ... etc.).
  • the elements Ci to C 5 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 Ci to Cs. As long as the limit of a slowdown zone is not reached, the zone determination device sends a signal I to the comparators C 1 to C 5 which blocks their output; no signal is then transmitted to the flip-flops Bi to B 5 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 rocker thus activated will emit on the one hand a signal inhibiting the rockers 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, it is that is to say with determined times T 1 and T 2 .
  • This train of pulses will act through 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 boom of the crane approaches a prohibited area, by turning to the right for example, it rotates at a speed greater than Vs. As soon as it crosses the threshold of the slowdown zone ZR, 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 C 5 (corresponding to a speed greater than or equal to V 5 ), thus activated, in turn activates the rocker B s by a signal Z and inhibits flip-flops B 1 to B 4 by a signal l '.
  • the flip-flop Bs sends a pulse train of width T 1 and of period T 2 to the relay RL which will command a counter-orientation to the left.
  • the speed of rotation of the arrow progressively falling below Vs will therefore be between V 4 and v 5 , it is the comparator corresponding to V 4 which takes over, activates the flip-flop B 4 which inhibits by a signal the flip-flops B 1 to Bs.
  • the time T 1 takes a lower value and T 2 a larger value. It is the same when the speed drops below V 3 then V 2 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 Ti and T 2 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 a value T 1 and a value T 2 .
  • FIGS. 7 and 8 takes up the operating principle of the previous example as shown in FIG. 6.
  • the flip-flops B and B 'no longer deliver trains of pulses whose values of Ti and T 2 are determined as a function of the orientation speed but a single pulse which only disappears when the speed is equal to 0. T 2 is then always zero.
  • the entrance to a prohibited zone ZI is located at an angle a i of the predetermined origin O.
  • 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 ai is reached.
  • a speed Vi is then defined below which the deceleration will be automatic if at the entrance to the deceleration zone the orientation speed V of the arrow is greater than Vi.
  • Vi has a value of about 30% of the nominal orientation speed.
  • the device works as follows:
  • the zone determination device continues to send the signal 1 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 V 4 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 1 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 AL slightly less than V 1 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 Vi is reached, the counter-orientation process until it stops. The stopping can occur for example in V 2 according to FIG. 8. The restarting is carried out as previously until e reaches the value ⁇ . If the speed V is not zero for this value of e, 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 .
  • 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 ai, the brakes are then automatically disengaged service.
  • the flip-flops B 1 to B 5 and B ' 1 to B' 5 emit a single pulse.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (11)

1. Verfahren zur Verlangsamung und automatischen Stillsetzung der Schwenkbewegung, der Laufkatzenbewegung und eventuell der Hubbewegung von Baumaschinen, z.B. Kränen, die nicht mit Hilfsverlangsamern ausgestattet sind, und bei dem der Schwenkwinkel, die Fahrstrecke der Laufkatze und eventuell die Hubhöhe gemessen werden sowie die Meßwerte mit im voraus festgelegten, von den Grenzen von für das Überfahren mit der Last verbotenen Zonen oder Gefahrenzonen abhängigen Werten verglichen werden, um den Zeitpunkt zu bestimmen, in dem die Bewegung der Baumaschine vor einem eventuellen Stopp verlangsamt werden muß, dadurch gekennzeichnet, daß die Winkelgeschwindigkeit (dV) der Schwenkung der Baumaschine gemessen wird, und daß der Wert dieser Messung dazu benutzt wird, den Grad der Bremsung durch Gegenschwenkung zu bestimmen, wobei ein die Verlangsamung steuerndes Signal einem Relais zugesandt wird, damit es auf den oder die Motoren der Baumaschine einwirkt, um entweder deren Stopp vor der Grenze der für das Überfahren mit der Last oder mit dem Ausleger verbotenen Zone hervorzurufen, oder ihr eine während des Durchfahrens einer Gefahrenzone herabgesetzte Geschwindigkeit aufzuzwingen.
2. Verfahren zur Verlangsamung und automatischen Stillsetzung nach Anspruch 1, dadurch gekennzeichnet, daß das die Verlangsamung steuernde Signal, das dem Relais zugesandt wird, welches die Versorgung des oder der Motoren der Baumaschine steuert, von einer Folge von veränderbaren Impulsen der Länge (Te und der Periode (T@) gebildet ist.
3. Verfahren nach Anspruch 2, dadurch gekennzeichnet, daß eine festgelegte Länge (Te des Bremsimpulses und eine festgelegte Periode (T@) der Impulsfolge einem bestimmten Bereich der Schwenkgeschwindigkeit des Auslegers entsprechen.
4. Verfahren nach Anspruch 2, dadurch gekennzeichnet, daß eine festgelegte Breite des Bremsimpulses und eine festgelegte Periode der Impulsfolge einer bestimmten Geschwindigkeit des Auslegers entsprechen.
5. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß das die Verlangsamung steuernde Signal, welches dem Relais zugesandt wird, das die Versorgung des oder der Motoren der Baumaschine steuert, von einem Impuls gebildet ist, dessen Dauer bestimmt ist durch den Zeitpunkt, in dem der Schwenkwinkel und die Schwenkgeschwindigkeit zur gleichen Zeit einen jeweils vorgeschriebenen Wert erreichen, und durch den Zeitpunkt, in dem die Geschwindigkeit null ist.
6. Vorrichtung zur Steuerung der Verlangsamung und automatischen Stillsetzung der Ausleger-und/oder Gegenausleger-Schwenkbewegung von Hebezeugen, z.B. Kränen, sowie der Laufkatzenbewegung und eventuell der Hubhöhe der Last, mit Steuerung durch eine Zonenbestimmungsvorrichtung, dadurch gekennzeichnet, daß sie umfaßt: ein Organ (M) zur Erfassung der Schwenkgeschwindigkeit des Auslegers, wenigstens eine Vergleichsschaltung (C), die durch die Zonenbestimmungsvorrichtung aktiviert wird und den vom Geschwindigkeitserfassungsorgan (M) übermittelten Wert der Geschwindigkeit (V) mit einem im voraus festgelegten Wert vergleicht, derart, daß ein Steuersignal (Z,Z') an wenigstens ein monostabiles Kippglied (B oder B') abgegeben wird, das seinerseits wenigstens einen Impuls aussendet, dessen Dauer von der gemessenen Geschwindigkeit (V) abhängig ist, und auf ein Relaisorgan (RL, RL') einwirkt, um die Versorgung des oder der Motoren des Krans im Sinne einer Gegenschwenkung zu beeinflussen.
7. Vorrichtung nach Anspruch 6, dadurch gekennzeichnet, daß das oder die monostabilen Kippglieder (B,B'; B ! bis B%; B' bis B5') eine Impulsfolge aussenden, bei der die Impulsbreite und die Periode von der gemessenen Geschwindigkeit (V) abhängen.
8. Vorrichtung nach Anspruch 7, dadurch gekennzeichnet, daß sie mehrere Vergleichsschaltungen (C! bis C%) umfaßt, welche den festgelegten Geschwindigkeitsbereichen entsprechen, wobei jede Vergleichsschaltung (C! bis C%) ein monostabiles Kippglied (B bis B%, B'! bis B'%) für jede Drehrichtung steuert, dabei das angesteuerte Kippglied außerdem ein Sperrsignal (I') abgibt, das die Kippglieder sperrt, welche den kleineren Drehgeschwindigkeiten entsprechen (B$ bis B B'$ bis B'!).
9. Vorrichtung nach Anspruch 6, dadurch gekennzeichnet, daß das oder die Kippglieder (B! bis B%; B'! bis B'%) abwechselnd einen Impuls aussenden, dessen Dauer beim ersten ausgelösten Kippglied durch den Zeitpunkt bestimmt ist, in dem der Schwenkwinkel und die Schwenkgeschwindigkeit einen jeweils vorgeschriebenen Wert erreichen, und durch den Zeitpunkt, in dem das folgende Kippglied übernimmt, beim letzten ausgelösten Kippglied durch den Zeitpunkt, in dem es eingeschaltet wird, und durch den Zeitpunkt, in dem die Geschwindigkeit aufgehoben wird, und bei den dazwischenliegenden Kippgliedern durch ihre Betriebszeit, die den vorgesehenen Bereichen der Betriebsgeschwindigkeit entsprechen.
10. Vorrichtung nach Anspruch 6, dadurch gekennzeichnet, daß sie eine einzige Vergleichsschaltung (C) umfaßt, welche ein monstabiles Kippglied (B,B') für jede Drehrichtung des Auslegers steuert, wobei das aktivierte Kippglied (B oder B') eine Impulsfolge aussendet, welche bestimmt ist durch einen vorgeschriebenen Wert (V) des Signals, das es vom Geschwindigkeitserfassungsorgan empfängt.
11. Vorrichtung nach Anspruch 9, dadurch gekennzeichnet, daß das oder die Kippglieder (B, B') einen Impuls aussenden, dessen Dauer bestimmt ist durch den Zeitpunkt, in dem der Schwenkwinkel und die Schwenkgeschwindigkeit zur gleichen Zeit einen jeweils vorgeschriebenen Wert erreichen, und durch den Zeitpunkt, in dem die Geschwindigkeit null ist.
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 EP0252841A1 (de) 1988-01-13
EP0252841B1 true EP0252841B1 (de) 1990-01-03

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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

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

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2638151B1 (fr) * 1988-10-24 1990-12-21 Materiel Indl Equipement Procede de selection de zone
FR2638440B1 (fr) * 1988-11-03 1991-02-01 Grp Francais Construction Installation d'assistance a la conduite pour engins de manutention tels que des grues
DE3903757A1 (de) * 1989-02-09 1990-08-16 Man Ghh Krantechnik Verfahren zur begrenzung des dreh- und ausladungsbereiches von drehkraenen, insbesondere turmdrehkraenen
GB2243359B (en) * 1990-04-11 1994-11-09 Kubota Kk Drive systems for backhoe boom assemblies
DE4115165A1 (de) * 1991-05-10 1992-11-12 Pietzsch Automatisierungstech Verfahren zum begrenzen des arbeitsbereichs bei einem arbeitsmittel mit einem verfahrbaren ausleger
JP3215502B2 (ja) * 1992-05-19 2001-10-09 株式会社小松製作所 作業機動作範囲制限装置
FR2699520B1 (fr) * 1992-12-17 1995-03-24 Euro Montage Installation pour empêcher une collision entre la flèche d'une grue basse et la charge suspendue au chariot d'une grue haute.
DE102006040782A1 (de) 2006-08-31 2008-03-20 Liebherr-Werk Nenzing Gmbh, Nenzing Sicherungs- und Steuerungsverfahren für Krane

Family Cites Families (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
GB1456174A (en) * 1974-03-04 1976-11-17 Shimizu Construction Co Ltd Alarm apparatus for the operaint range of cranes
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
SE456048B (sv) * 1982-02-24 1988-08-29 Philips Norden Ab Sett och anordning for att bestemma kollisionsrisken for tva inbordes rorliga kroppar
FR2537119A1 (fr) * 1982-12-02 1984-06-08 Chantiers Modernes Sa Dispositif de securite adaptable aux fleches de grues destinees a se survoler
FR2550520B1 (fr) * 1983-08-12 1987-03-20 Causse Antoine Dispositif d'interdiction automatique du deplacement dans une zone predeterminee d'un bras de levage orientable

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Publication number Publication date
DE3761304D1 (de) 1990-02-08
EP0252841A1 (de) 1988-01-13
FR2601348B1 (fr) 1988-10-28
ES2015071B3 (es) 1990-08-01
FR2601348A1 (fr) 1988-01-15

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