EP0292413A1 - Load compensation device for a maintenance vehicle, and method for effectuating the compensation - Google Patents

Load compensation device for a maintenance vehicle, and method for effectuating the compensation Download PDF

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Publication number
EP0292413A1
EP0292413A1 EP88420163A EP88420163A EP0292413A1 EP 0292413 A1 EP0292413 A1 EP 0292413A1 EP 88420163 A EP88420163 A EP 88420163A EP 88420163 A EP88420163 A EP 88420163A EP 0292413 A1 EP0292413 A1 EP 0292413A1
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EP
European Patent Office
Prior art keywords
load
underload
cylinder
slide
overload
Prior art date
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Granted
Application number
EP88420163A
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German (de)
French (fr)
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EP0292413B1 (en
Inventor
Jean Leveugle
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Reel SAS
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Reel SAS
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Priority to AT88420163T priority Critical patent/ATE57514T1/en
Publication of EP0292413A1 publication Critical patent/EP0292413A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/54—Safety gear
    • B66D1/58—Safety gear responsive to excess of load
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators

Definitions

  • the present invention relates generally to lifting devices and more particularly, although not exclusively, to overhead traveling cranes intended for handling delicate loads.
  • a cable is used, one end of which is wound on a drum, while its opposite end is anchored to the truck of the handling vehicle, said cable passing on the one hand around a Crazy pulley rotatably mounted above the anchor point, and on the other hand around the crazy pulley of a movable hook block to which the load is attached, for example by means of a grapple.
  • a load cell is inserted into the cable associated with means of causing the rotation control of the drum to stop if the cable is subjected to an overload or an underload. The first intervenes if, during its elevation, the load catches an obstacle, while the under-load occurs if the load abuts against an obstacle during its descent.
  • the electrical devices used in connection with the load cell and the winch drive motor have response times that are too long to allow immediate movement of the load to stop, both in the upward and downward directions, so that damage to the load can be witnessed when an incident occurs.
  • the improvements which are the subject of the present invention aim to remedy this drawback and to allow the production of a device interposed in the lifting kinematic chain, so that this device keeps the cable tension between two limits corresponding to the values allowed from overload and underload.
  • the invention allows the displacement of the load to be stopped in the event that it encounters an obstacle if the reaction of this load on this drawing varies more or less with respect to a threshold.
  • the device comprises in combination: - a fixed frame comprising two extreme stops; - a clean slide to slide in the frame between its stops extremes; - an outer bell provided with means suitable for cooperating with the slide; - an overload cylinder arranged between the slide and the frame; - an underload cylinder housed between the slide and the external bell; - a counterweight to which the load handling cable is attached and movable axially between two limits relative to the outer bell; - And an electro-pneumatic supply circuit modulated cylinders according to the load variations.
  • Illustrated in fig. 1 the carriage 1 of an overhead traveling crane moving on a raceway 2 by means of rollers 3 and on which a winch 4 is mounted, driven by an electric motor 5 and intended for winding a cable 6.
  • L 'one end of this cable is associated with the winch drum 4, while its opposite end is fixed to the carriage 1 by through a device 7 established in accordance with the invention. From this device, the cable surrounds a mad pulley 8 rotatably mounted relative to a bracket 9 secured to the carriage 1, then it cooperates with a load cell 10.
  • the load 11 is hooked to the hook 12 a of a movable block 12, the pulley 12 b of which is surrounded by the cable 6 before it goes to wind on the winch.
  • the problem posed in a nonlimiting manner in the example illustrated is the handling of the load 11 which must be either extracted or replaced in a row R of loads 11 clamped against each other. It is easily understood that when a load 11 is extracted, an overvoltage occurs, therefore an overload of the cable 6 if said load catches one of the neighbors. On the contrary, when placing a load 11 in a free space of row R, there is an undervoltage or underload of the cable if the load abuts on one of its neighbors or against a any obstacle.
  • the device 7 of fig. 1 solves the problem posed by these incidents.
  • a fixed frame composed of at least two columns 13 with two diameters which determine between them a shoulder 13 a .
  • the columns therefore consist of a barrel 13 b , the lower end of which is secured to the carriage 1 and an intermediate part 13 c following the barrel after the shoulder 13 a .
  • the free ends of the two parts 13 c of the columns 13 are joined by a cross member 14.
  • a slide 15 can slide along the end portions 13 c of the columns. It comprises a plate 15 a and two sleeves 15 b surrounding the columns and intended to limit the travel of the slide upwards by abutment of their free ends against the cross-member 14.
  • the second abutment of the frame is constituted by the shoulders 13 a .
  • the assembly of the frame and the slide is surrounded by a bell 16 provided with internal tabs 16 a arranged so as to be able to cooperate with the underside of the plate 15 a of the slide under the conditions which will be better explained below.
  • the bottom of the bell is closed by a bottom 16 b comprising perforations traversed with functional clearance by the drums 13 vb of the columns 13 to ensure the guiding of said bell.
  • the pressures in the jacks 19 and 20 respectively are called PU1 and PO1.
  • the latter is provided such that in no case can it move the slider 15 relative to the bell 16, so that the slider 15 remains in abutment against the shoulders 13 a and the tabs 16 a remain in contact with the slider 15 because the pressure PU1 prevailing in the jack 19 is high and in any case greater than that PO1
  • This equilibrium remains as long as the cable tension force F does not exceed a prescribed threshold.
  • the action of pressure PO1 results in a force less than that F, while the action of PU1 is greater than F.
  • the choice of the pressure PU2 means that the time required to stop the winch 4 is less than that corresponding to the displacement under the above conditions of the slide and of the bell 16, from the position of FIG. 2 to the maximum that can be accepted when the slider abuts against the cross-member 14.
  • the pressure PO2 sent into the jack 20 is greater than that PO1 developed in this jack in the equilibrium position, said pressure PO2 being greater than that PU1 prevailing in the jack 19.
  • FIG. 5 there is illustrated in FIG. 5 a final possibility in which, during the normal stop in the low position, the counterweight 17 balances the mass of the entire movable hook block 12 and that of all the accessories so as not to exert a force on the suspended load that we just placed.
  • the counterweight descends towards the bell 16 along the balusters 16 c to allow the safety stop thanks to the presence of a detector 40 (fig. 2 to 5).
  • a solenoid valve 33 and a pressure regulator 34 In the line 22 are inserted a solenoid valve 33 and a pressure regulator 34.
  • a pressure reducer 35 In the line 23 is inserted a pressure reducer 35. Likewise, a pressure reducer 36 is inserted in the line 24 next to a solenoid valve 37, finally a fourth pressure reducer 38 is placed in the line 25 to side of a solenoid valve 39.
  • the pressure regulators are adjusted for particular application at the following pressures: the member 34 to 5.5 bars, that 35 to 2 bars, that 36 to 2.5 bars, and that 38 to 5 bars.
  • the solenoid valve 33 and that 37 are open (the solenoid valve 39 being closed), so that the jacks 19 and 20 are supplied under the pressures PU1 and PO1 determined by pressure regulators 34 and 36.
  • the ball rests on its lower seat in the two non-return valves 26. Due to the pressures defined above.
  • the pressure PU1 in the cylinder 19 (5.5 bars) is greater than the pressure PO1 in the cylinder 20 (2.5 bars).
  • the latter transmits the information to the electrical cabinet.
  • the latter issues orders causing the opening of the solenoid valve 39, so that the jack 5 is supplied with a pressure PO2 greater than that of PO1 (5 bars instead of 2.5).
  • the ball of the corresponding double valve 26 rises against its upper seat, as shown in broken lines.
  • the supply of the cylinder 19 it is carried out under a pressure PU1 of 5.5 bars, that is to say greater than that supplying the cylinder 20, since the solenoid valve 33 is open. It will be noted that in all cases, except that specified in which the pressure 20 is zero, the valve 31 is continuously closed.
  • the frame 13-14 of FIGS. 2 to 5 is constituted by an assembly 41 comprising a tubular element 42, closed at its lower end and open at its opposite end. This end is closed by a cover 43.
  • the central passage of the tubular element 42 is of two diameters in order to constitute a shoulder 42 has turned towards the cover 43.
  • the latter and the shoulder 42 a form abutments similar to those 13 a and 14 of the embodiment of FIG. 2 to 5.
  • the bottom 16 b of the bell 16 consists of 3 radial arms passing through openings 42 b of the tubular element 42. The center of this bottom cooperates with the base 44 a of a tubular spacer 44, which carries under the slide 15 It is observed that the jack 20 rests on the inner face of the base 44 a .
  • the slide 15 has a shape similar to that illustrated in the previous figures, but it is guided externally by the part with larger diameter of the internal passage of the tubular element 42. As in FIGS. 2 to 5, it moves under the effect of the movement of the bell 16, and through the tubular spacer 44 between the shoulder 42 a and the cover 43.
  • the device according to the invention can be applied to overhead traveling cranes provided with a telescopic mast for moving loads.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Control And Safety Of Cranes (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Multiple Motors (AREA)
  • Jib Cranes (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Crushing And Grinding (AREA)

Abstract

This invention relates to a load compensating device of the type comprising a detector adapted to stop displacement of the load in the event of said load encountering an obstacle and the reaction of this load thereon varying more or less with respect to a threshold, wherein it comprises:-a fixed armature comprising two end stops;-a sliding block adapted to slide in the armature between its end stops;-an outer bell element provided with means adapted to cooperate with the sliding block;-an overload jack disposed between the sliding block and the armature;-an underload jack housed between the sliding block and the outer bell element;-a counterweight to which the cable for handling the load is attached and axially mobile between two limits with respect to the outer bell element;-and an electro-pneumatic circuit for modulated supply of the jacks as a function of the variations in the load.

Description

La présente invention est relative de manière générale aux engins de levage et plus particulièrement, bien que non exclusivement, aux ponts roulants destinés à la manutention de charges délicates.The present invention relates generally to lifting devices and more particularly, although not exclusively, to overhead traveling cranes intended for handling delicate loads.

Dans ce genre d'opération, l'on utilise un câble dont une extrémité s'enroule sur un tambour, tandis que son extrémité opposée est ancrée au chariot de l'engin de manutention, ledit câble passant d'une part autour d'une poulie folle montée à rotation au-dessus du point d'ancrage, et d'autre part autour de la poulie folle d'un moufle mobile à crochet au­quel la charge est accrochée, par exemple au moyen d'un grappin. Entre la poulie folle et le moufle, l'on insère dans le câble un peson associé à des moyens de provoquer l'arrêt de la commande de rotation du tambour si le câble est soumis à une surcharge ou à une sous-charge. La première intervient si, lors de son élévation, la charge accroche un obstacle, tandis que la sous-charge se produit si la charge bute contre un obstacle lors de sa descente.In this type of operation, a cable is used, one end of which is wound on a drum, while its opposite end is anchored to the truck of the handling vehicle, said cable passing on the one hand around a Crazy pulley rotatably mounted above the anchor point, and on the other hand around the crazy pulley of a movable hook block to which the load is attached, for example by means of a grapple. Between the idler pulley and the block, a load cell is inserted into the cable associated with means of causing the rotation control of the drum to stop if the cable is subjected to an overload or an underload. The first intervenes if, during its elevation, the load catches an obstacle, while the under-load occurs if the load abuts against an obstacle during its descent.

Les dispositifs électriques utilisés en relation avec le peson et le mo­teur d'entraînement du treuil présentent des temps de réponse trop longs pour permettre un arrêt immédiat du déplacement de la charge aussi bien dans le sens de la montée que dans celui de la descente, de telle sorte qu'on peut assister à un endommagement de la charge lorsqu'un incident survient.The electrical devices used in connection with the load cell and the winch drive motor have response times that are too long to allow immediate movement of the load to stop, both in the upward and downward directions, so that damage to the load can be witnessed when an incident occurs.

Les perfectionnements qui font l'objet de la présente invention visent à remédier à cet inconvénient et à permettre la réalisation d'un disposi­tif intercalé dans la chaîne cinématique de levage, de manière que ce dispositif conserve la tension du câble entre deux limites correspondant aux valeurs admises de la surcharge et de la sous-charge.The improvements which are the subject of the present invention aim to remedy this drawback and to allow the production of a device interposed in the lifting kinematic chain, so that this device keeps the cable tension between two limits corresponding to the values allowed from overload and underload.

L'invention permet l'arrêt du déplacement de la charge au cas où celle-­ci rencontre un obstacle si la réaction de cette charge sur ce dessin varie en plus ou en moins par rapport à un seuil.The invention allows the displacement of the load to be stopped in the event that it encounters an obstacle if the reaction of this load on this drawing varies more or less with respect to a threshold.

A cet effet, le dispositif suivant l'invention comprend en combinaison :
    - une armature fixe comportant deux butées extrêmes ;
    - un coulisseau propre à coulisser dans l'armature entre ses butées extrêmes ;
    - une cloche extérieure pourvue de moyens propres à coopérer avec le coulisseau ;
    - un vérin de surcharge disposé entre le coulisseau et l'armature ;
    - un vérin de sous-charge logé entre le coulisseau et la cloche extérieure ;
    - un contrepoids auquel est attaché le câble de manutention de la charge et mobile axialement entre deux limites par rapport à la cloche extérieure ;
    - et un circuit électro-pneumatique d'alimentation modulée des vé­rins en fonction des variations de la charge.To this end, the device according to the invention comprises in combination:
- a fixed frame comprising two extreme stops;
- a clean slide to slide in the frame between its stops extremes;
- an outer bell provided with means suitable for cooperating with the slide;
- an overload cylinder arranged between the slide and the frame;
- an underload cylinder housed between the slide and the external bell;
- a counterweight to which the load handling cable is attached and movable axially between two limits relative to the outer bell;
- And an electro-pneumatic supply circuit modulated cylinders according to the load variations.

Le dessin annexé, donné à titre d'exemple, permettra de mieux comprendre l'invention, les caractéristiques qu'elle présente et les avantages qu'elle est susceptible de procurer :

  • Fig. 1 est une vue schématique montrant un pont roulant dont le chariot est équipé d'un dispositif suivant l'invention.
  • Fig. 2 à 5 montrent les différentes phases de fonctionnement du dispositif conforme à l'invention.
  • Fig. 6 illustre le schéma de l'alimentation en air comprimé des vérins du dispositif suivant l'invention en fonction des différen­tes phases de fonctionnement.
  • Fig. 7 est une vue semblable à celle de fig. 2, mais montrant une variante d'exécution.
The appended drawing, given by way of example, will allow a better understanding of the invention, the characteristics which it presents and the advantages which it is capable of providing:
  • Fig. 1 is a schematic view showing an overhead crane, the carriage of which is equipped with a device according to the invention.
  • Fig. 2 to 5 show the different operating phases of the device according to the invention.
  • Fig. 6 illustrates the diagram of the compressed air supply to the cylinders of the device according to the invention as a function of the different operating phases.
  • Fig. 7 is a view similar to that of FIG. 2, but showing an alternative embodiment.

On a illustré en fig. 1 le chariot 1 d'un pont roulant se déplaçant sur un chemin de roulement 2 au moyen de galets 3 et sur lequel est monté un treuil 4, entraîné par un moteur électrique 5 et destiné à l'enroulement d'un câble 6. L'une des extrémités de ce câble est associée au tambour du treuil 4, tandis que son extrémité opposée est fixée au chariot 1 par l'intermédiaire d'un dispositif 7 établi conformément à l'invention. A partir de ce dispositif, le câble entoure une poulie folle 8 montée à rotation par rapport à une potence 9 solidaire du chariot 1, puis il co­opère avec un peson 10.Illustrated in fig. 1 the carriage 1 of an overhead traveling crane moving on a raceway 2 by means of rollers 3 and on which a winch 4 is mounted, driven by an electric motor 5 and intended for winding a cable 6. L 'one end of this cable is associated with the winch drum 4, while its opposite end is fixed to the carriage 1 by through a device 7 established in accordance with the invention. From this device, the cable surrounds a mad pulley 8 rotatably mounted relative to a bracket 9 secured to the carriage 1, then it cooperates with a load cell 10.

La charge 11 est accrochée au crochet 12a d'un moufle mobile 12, dont la poulie 12b est entourée par le câble 6 avant qu'il n'aille s'enrouler sur le treuil.The load 11 is hooked to the hook 12 a of a movable block 12, the pulley 12 b of which is surrounded by the cable 6 before it goes to wind on the winch.

Le problème posé de manière non limitative dans l'exemple illustré est la manutention de la charge 11 qui doit être soit extraite, soit remise en place dans une rangée R de charges 11 serrées les unes contre les autres. On comprend aisément que lorsque l'on extrait une charge 11, il se produit une surtension, donc une surcharge du câble 6 si ladite char­ge accroche l'une des voisines. Au contraire, lors de la mise en place d'une charge 11 dans un espace libre de la rangée R, il se produit une sous-tension ou sous-charge du câble si la charge bute sur l'une de ses voisines ou contre un obstacle quelconque.The problem posed in a nonlimiting manner in the example illustrated is the handling of the load 11 which must be either extracted or replaced in a row R of loads 11 clamped against each other. It is easily understood that when a load 11 is extracted, an overvoltage occurs, therefore an overload of the cable 6 if said load catches one of the neighbors. On the contrary, when placing a load 11 in a free space of row R, there is an undervoltage or underload of the cable if the load abuts on one of its neighbors or against a any obstacle.

Le dispositif 7 de fig. 1 résoud le problème posé par ces incidents.The device 7 of fig. 1 solves the problem posed by these incidents.

Comme illustré en fig. 2 à 5, il comprend tout d'abord une armature fixe composée d'au moins deux colonnes 13 à deux diamètres qui déterminent entre eux un épaulement 13a. Les colonnes sont donc constituées d'un fût 13b dont l'extrémité inférieure est assujettie au chariot 1 et une par­tie entrême 13c faisant suite au fût après l'épaulement 13a. Les extré­mités libres des deux parties 13c des colonnes 13 sont réunies par une traverse 14.As illustrated in fig. 2 to 5, it firstly comprises a fixed frame composed of at least two columns 13 with two diameters which determine between them a shoulder 13 a . The columns therefore consist of a barrel 13 b , the lower end of which is secured to the carriage 1 and an intermediate part 13 c following the barrel after the shoulder 13 a . The free ends of the two parts 13 c of the columns 13 are joined by a cross member 14.

Un coulisseau 15 peut glisser le long des parties extrêmes 13c des co­lonnes. Il comprend une plaque 15a et deux fourreaux 15b entourant les colonnes et destinées à limiter la course du coulisseau vers le haut par butée de leurs extrémités libres contre la traverse 14. Bien entendu, la seconde butée de l'armature est constituée par les épaulements 13a.A slide 15 can slide along the end portions 13 c of the columns. It comprises a plate 15 a and two sleeves 15 b surrounding the columns and intended to limit the travel of the slide upwards by abutment of their free ends against the cross-member 14. Of course, the second abutment of the frame is constituted by the shoulders 13 a .

L'ensemble de l'armature et du coulisseau est entouré par une cloche 16 pourvue de taquets internes 16a disposés de manière à pouvoir coopérer avec le dessous de la plaque 15a du coulisseau dans les conditions qu'on expliquera mieux plus loin.The assembly of the frame and the slide is surrounded by a bell 16 provided with internal tabs 16 a arranged so as to be able to cooperate with the underside of the plate 15 a of the slide under the conditions which will be better explained below.

Le bas de la cloche est fermé par un fond 16b comportant des perfora­tions traversées avec jeu fonctionnel par les fûts 13vb des colonnes 13 pour assurer le guidage de ladite cloche.The bottom of the bell is closed by a bottom 16 b comprising perforations traversed with functional clearance by the drums 13 vb of the columns 13 to ensure the guiding of said bell.

Celle-ci comporte sur sa partie supérieure deux colonnettes verticales 16c qui traversent deux perforations ménagées dans un contre-poids 17 auquel le câble 6 est ancré. On observe que l'extrémité libre des deux colonnettes 16c est pourvue d'une butée 16d. Enfin, deux vérins pneuma­tiques alimentés par une source de pression 18 (fig. 6) sont placés respectivement entre la traverse 14 et le coulisseau 15 (vérin référencé 19) et d'autre part entre ledit coulisseau 15 et le fond 16b de la clo­che 16 (vérin référencé 20). Le vérin 19 est, dans la suite des présen­tes, appelé vérin de surcharge, tandis que celui 20 est nommé vérin de sous-charge.This comprises on its upper part two vertical columns 16 c which pass through two perforations formed in a counterweight 17 to which the cable 6 is anchored. It is observed that the free end of the two columns 16 c is provided with a stop 16 d . Finally, two pneumatic cylinders supplied by a pressure source 18 (fig. 6) are placed respectively between the cross member 14 and the slide 15 (jack referenced 19) and on the other hand between said slide 15 and the bottom 16 b of the bell 16 (cylinder referenced 20). The jack 19 is hereinafter called the overload jack, while the jack 20 is called the underload jack.

Le fonctionnement est le suivant :The operation is as follows:

Lorsque le système est en équilibre, c'est-à-dire lorsqu'aucun obstacle n'est rencontré par la charge, les pressions respectivement dans les vérins 19 et 20, sont appelées PU1 et PO1. Cette dernière est prévue telle qu'en aucun cas elle ne peut déplacer le coulisseau 15 par rapport à la cloche 16, de sorte que le coulisseau 15 reste en appui contre les épaulements 13a et les taquets 16a demeurent en contact avec le coulis­seau 15 car la pression PU1 régnant dans le vérin 19 est élevée et en tout cas supérieure à celle PO₁ Cet équilibre demeure tant que la force F de tension de câble ne dépasse pas un seuil prévu. Autrement dit, l'action de la pression PO1 se traduit par une force inférieure à celle F, tandis que l'action du PU₁ se trouve supérieure à F.When the system is in equilibrium, that is to say when no obstacle is encountered by the load, the pressures in the jacks 19 and 20 respectively, are called PU1 and PO1. The latter is provided such that in no case can it move the slider 15 relative to the bell 16, so that the slider 15 remains in abutment against the shoulders 13 a and the tabs 16 a remain in contact with the slider 15 because the pressure PU1 prevailing in the jack 19 is high and in any case greater than that PO₁ This equilibrium remains as long as the cable tension force F does not exceed a prescribed threshold. In other words, the action of pressure PO1 results in a force less than that F, while the action of PU₁ is greater than F.

On note bien entendu que le contrepoids 17 est en appui contre les bu­tées 16d des colonnettes 16c.It will of course be noted that the counterweight 17 bears against the stops 16 d of the balusters 16 c .

En cas de surcharge, le supplément de tension provoque le soulèvement du coulisseau 15 par les taquets 16a de la cloche 16 qui s'élève tout d'abord par suite de la surcharge puisque F est devenue F1 plus grande que F, et ensuite du fait de la modification de la pression régnant dans 19 qui est devenue PU2 inférieure à PU1. L'élévation de la clo­che et du coulisseau permet de maintenir constante la tension dans le câble pendant l'arrêt du mouvement s'effectuant en un temps qui permet aux dispositifs électriques de provoquer l'arrêt de l'élévation de la charge 11 avant que le coulisseau 15 ne vienne en appui contre la tra­verse 14.In the event of overload, the additional tension causes the lifting of the slide 15 by the cleats 16 a of the bell 16 which rises firstly as a result of the overload since F has become F1 greater than F, and then from made of the modification of the pressure prevailing in 19 which became PU2 lower than PU1. The elevation of the bell and the slide makes it possible to maintain constant the tension in the cable during the stopping of the movement taking place in a time which allows the electrical devices to cause the lifting of the load 11 to stop before the slider 15 comes to bear against the cross-member 14.

Le choix de la pression PU₂ fait que le temps nécessaire à l'arrêt de treuil 4 est inférieur à celui correspondant au déplacement dans les conditions ci-dessus du coulisseau et de la cloche 16, de la position de fig. 2 à celle maximale pouvant être acceptée lorsque le coulisseau vient en butée contre la traverse 14.The choice of the pressure PU₂ means that the time required to stop the winch 4 is less than that corresponding to the displacement under the above conditions of the slide and of the bell 16, from the position of FIG. 2 to the maximum that can be accepted when the slider abuts against the cross-member 14.

En cas de sous-charge, le déplacement de la cloche 16 est inverse, c'est-à-dire que les taquets 16a quittent le coulisseau 15 de manière à agir sur le câble 6 pendant le temps de réponse des appareillages élec­triques.In the event of an underload, the movement of the bell 16 is reversed, that is to say that the tabs 16 a leave the slide 15 so as to act on the cable 6 during the response time of the electrical equipment.

Dans ces conditions, la pression PO2 envoyée dans le vérin 20 est supé­rieure à celle PO1 développée dans ce vérin dans la position d'équili­bre, ladite pression PO2 étant supérieure à celle PU1 régnant dans le vérin 19.Under these conditions, the pressure PO2 sent into the jack 20 is greater than that PO1 developed in this jack in the equilibrium position, said pressure PO2 being greater than that PU1 prevailing in the jack 19.

Là encore, la course de déplacement vers le bas de la cloche 16 est prévue largement suffisante pour que les temps de réponse de l'appareil­lage électrique soient inférieurs au temps de descente total de la clo­che jusqu'à ce qu'elle porte contre le chariot 1. Bien entendu, ces conditions sont directement dépendantes des caractéristiques du vérin de sous-charge 20 et de la valeur de la pression PO2 par rapport à celle PO1.Again, the travel downward movement of the bell 16 is provided largely sufficient so that the response times of the electrical equipment are less than the total time of descent of the bell until it bears against the carriage 1. Of course, these conditions are directly dependent on the characteristics of the underload cylinder 20 and the value of the pressure PO2 relative to that PO1.

On a enfin illustré en fig. 5 une dernière possibilité dans laquelle, lors de l'arrêt normal en position basse, le contre-poids 17 équilibre la masse de l'ensemble du moufle mobile à crochet 12 et celle de tous les accessoires de manière à ne pas exercer une force sur la charge suspendue qu'on l'on vient de poser. On s'aperçoit qu'à ce moment le contre-poids descend en direction de la cloche 16 le long des colonnet­tes 16c pour permettre l'arrêt de sécurité grâce à la présence d'un dé­tecteur 40 (fig. 2 à 5).Finally, there is illustrated in FIG. 5 a final possibility in which, during the normal stop in the low position, the counterweight 17 balances the mass of the entire movable hook block 12 and that of all the accessories so as not to exert a force on the suspended load that we just placed. We see that at this time the counterweight descends towards the bell 16 along the balusters 16 c to allow the safety stop thanks to the presence of a detector 40 (fig. 2 to 5).

Le système d'alimentation pneumatique des vérins qui a été illustré en fig. 6 est décrit ci-après :The pneumatic power system for the cylinders which has been illustrated in fig. 6 is described below:

A partir de la source de pression 18, part une canalisation 21 consti­tuant l'origine de quatre conduites référencées 22, 23, 24 et 25, qui sont réunies deux à deux pour former une boucle se fermant par l'intermédiaire d'un clapet anti-retour double 26 dont la sortie est branchée à un tuyau 27, 28 aboutissant respectivement aux vérins 19 et 20. A partir de chaque tuyau 27, 28 part une tubulure 29, 30 aboutissant à l'atmosphère et dans chacune desquelles sont insérés d'une part une électro-vanne 31, et d'autre part un réducteur de débit 32.From the pressure source 18, leaves a pipe 21 constituting the origin of four pipes referenced 22, 23, 24 and 25, which are joined together in pairs to form a loop closing by means of a check valve. double return 26, the outlet of which is connected to a pipe 27, 28 leading respectively to the jacks 19 and 20. From each pipe 27, 28 leaves a pipe 29, 30 leading to the atmosphere and in each of which are inserted on the one hand a solenoid valve 31, and on the other hand a flow reducer 32.

Dans la conduite 22 sont insérés une électro-vanne 33 et un mano-déten-­deur 34.In the line 22 are inserted a solenoid valve 33 and a pressure regulator 34.

Dans la conduite 23 est inséré un mano-détendeur 35. De même, un mano-­détendeur 36 est inséré dans la conduite 24 à côté d'une électro-­vanne 37, enfin un quatrième mano-détendeur 38 est placé dans la con­duite 25 à côté d'une électro-vanne 39.In the line 23 is inserted a pressure reducer 35. Likewise, a pressure reducer 36 is inserted in the line 24 next to a solenoid valve 37, finally a fourth pressure reducer 38 is placed in the line 25 to side of a solenoid valve 39.

A titre d'exemple les mano-détendeurs sont réglés pour application particulière aux pressions suivantes : l'organe 34 à 5,5 bars, celui 35 à 2 bars, celui 36 à 2,5 bars, et celui 38 à 5 bars.By way of example, the pressure regulators are adjusted for particular application at the following pressures: the member 34 to 5.5 bars, that 35 to 2 bars, that 36 to 2.5 bars, and that 38 to 5 bars.

Lors du déplacement normal d'une charge, l'électro-vanne 33 et celle 37 sont ouvertes (l'électro-vanne 39 étant fermée), de telle sorte que les vérins 19 et 20 sont alimentés sous les pressions PU1 et PO1 déterminées par les mano-détendeurs 34 et 36. La bille repose sur son siège infé­rieur dans les deux clapets anti-retour 26. Du fait des pressions défi­nies ci-dessus. La pression PU1 dans le vérin 19 (5,5 bars) est supé­rieure à la pression PO1 dans le vérin 20 (2,5 bars).During the normal movement of a load, the solenoid valve 33 and that 37 are open (the solenoid valve 39 being closed), so that the jacks 19 and 20 are supplied under the pressures PU1 and PO1 determined by pressure regulators 34 and 36. The ball rests on its lower seat in the two non-return valves 26. Due to the pressures defined above. The pressure PU1 in the cylinder 19 (5.5 bars) is greater than the pressure PO1 in the cylinder 20 (2.5 bars).

On signalera à titre d'information qu'en cas de déplacement du crochet sans charge, l'alimentation pneumatique du vérin de sous-charge s'effec­tue à pression nulle, c'est-à-dire qu'alors on ouvre l'électro-vanne 31 alors que celles 37 et 39 sont fermées.It should be noted for information that in the event of displacement of the hook without load, the pneumatic supply of the underload cylinder takes place at zero pressure, that is to say that then the electro is opened -valve 31 while those 37 and 39 are closed.

Lorsqu'une surcharge intervient, elle est décelée par le peson 10 qui transmet les ordres à une armoire de commande, laquelle règle le système de la manière suivante : la vanne 33 est fermée, de telle sorte que le cylindre 19 est alimenté sous une pression PU2, inférieure à PU1, égale à deux bars. La bille du clapet anti-retour double correspondant 26 s'élève contre le siège supérieur, comme illustré en traits pointillés.When an overload occurs, it is detected by the load cell 10 which transmits the orders to a control cabinet, which regulates the system as follows: the valve 33 is closed, so that the cylinder 19 is supplied under a pressure PU2, less than PU1, equal to two bars. The ball of the corresponding double check valve 26 rises against the upper seat, as shown in dotted lines.

Quant à l'alimentation du vérin 20, elle n'est pas modifiée et s'effec­tue sous la pression de 2,5 bars, si bien que la bille du second clapet anti-retour double 26 reste sur son siège inférieur, comme montré en pointillés.As for the supply of the jack 20, it is not modified and is carried out under the pressure of 2.5 bars, so that the ball of the second double non-return valve 26 remains in its lower seat, as shown in dotted.

Lors d'une sous-charge détectée également par le peson 10, celui-ci transmet les informations à l'armoire électrique. Celle-ci émet des or­dres provoquant l'ouverture de l'électro-vanne 39, de telle sorte que le vérin 5 est alimenté sous une pression PO2 supérieure à celle de PO1 (5 bars au lieu de 2,5). La bille du clapet double 26 correspondant s'élève contre son siège supérieur, comme illustré en traits discontinus. Quant à l'alimentation du vérin 19, elle s'effectue sous une pression PU1 de 5,5 bars, c'est-à-dire supérieure à celle alimentant le vérin 20, puisque l'électro-vanne 33 est ouverte. On notera que dans tous les cas, sauf celui précisé dans lequel le pression 20 est nulle, la vanne 31 est continuellement fermée.During an underload also detected by the load cell 10, the latter transmits the information to the electrical cabinet. The latter issues orders causing the opening of the solenoid valve 39, so that the jack 5 is supplied with a pressure PO2 greater than that of PO1 (5 bars instead of 2.5). The ball of the corresponding double valve 26 rises against its upper seat, as shown in broken lines. As for the supply of the cylinder 19, it is carried out under a pressure PU1 of 5.5 bars, that is to say greater than that supplying the cylinder 20, since the solenoid valve 33 is open. It will be noted that in all cases, except that specified in which the pressure 20 is zero, the valve 31 is continuously closed.

Suivant une variante illustrée en fig. 7, l'armature 13-14 des fig. 2 à 5 est constituée par un ensemble 41 comprenant un élément tubulaire 42, fermé à son extrémité inférieure et ouvert à son extrémité opposée. Cette extrémité est obturée par un couvercle 43. Le passage central de l'élément tubulaire 42 est à deux diamètres en vue de constituer un épaulement 42a tourné en direction du couvercle 43. Ce dernier et l'épaulement 42a forment des butées similaires à celles 13a et 14 du mode d'exécution de fig. 2 à 5.According to a variant illustrated in FIG. 7, the frame 13-14 of FIGS. 2 to 5 is constituted by an assembly 41 comprising a tubular element 42, closed at its lower end and open at its opposite end. This end is closed by a cover 43. The central passage of the tubular element 42 is of two diameters in order to constitute a shoulder 42 has turned towards the cover 43. The latter and the shoulder 42 a form abutments similar to those 13 a and 14 of the embodiment of FIG. 2 to 5.

Le fond 16b de la cloche 16 est constitué par 3 bras radiaux traversant des ouvertures 42b de l'élément tubulaire 42. Le centre de ce fond coopère avec la base 44a d'une entretoise tubulaire 44, qui porte sous le coulisseau 15. On observe que le vérin 20 repose sur la face intérieure de la base 44a.The bottom 16 b of the bell 16 consists of 3 radial arms passing through openings 42 b of the tubular element 42. The center of this bottom cooperates with the base 44 a of a tubular spacer 44, which carries under the slide 15 It is observed that the jack 20 rests on the inner face of the base 44 a .

Dans ce mode d'exécution, le coulisseau 15 présente une forme similaire à celle illustrée dans les figures précédentes, mais il est guidé exté­rieurement par la partie à plus grand diamètre du passage intérieur de l'élément tubulaire 42. Comme dans les fig. 2 à 5, il se déplace sous l'effet du mouvement de la cloche 16, et par l'intermédiaire de l'en­tretoise tubulaire 44 entre l'épaulement 42a et le couvercle 43.In this embodiment, the slide 15 has a shape similar to that illustrated in the previous figures, but it is guided externally by the part with larger diameter of the internal passage of the tubular element 42. As in FIGS. 2 to 5, it moves under the effect of the movement of the bell 16, and through the tubular spacer 44 between the shoulder 42 a and the cover 43.

En particulier, le dispositif suivant l'invention peut être appliqué aux ponts-roulants pourvus d'un mât télescopique pour le déplacement des charges.In particular, the device according to the invention can be applied to overhead traveling cranes provided with a telescopic mast for moving loads.

Claims (12)

1. Dispositif compensateur de charge du genre comportant un détecteur (10) propre à arrêter le déplacement de la charge (11) au cas où celle-ci rencontre un obstacle et que la réaction de cette charge sur ce dernier varie en plus ou en moins par rapport à un seuil, caractérisé en ce qu'il comprend :
      - une armature fixe (13-14, 41) comportant deux butées extrêmes (13a-14, 42a, 43) ;
      - un coulisseau (15) propre à coulisser dans l'armature (13-14, 41) entre ses butées extrêmes (13a-14, 42a, 43) ;
      - une cloche extérieure (16) pourvue de moyens (16a, 44) propres à coopérer avec le coulisseau (15) ;
      - un vérin de surcharge (19) disposé entre le coulisseau (15) et l'armature (13-14) ;
      - un vérin de sous-charge (20) logé entre le coulisseau (15) et la cloche extérieure (16) ;
      - un contrepoids (17) auquel est attaché le câble (6) de manuten­tion de la charge et mobile axialement entre deux limites par rapport à la cloche extérieure (16) ;
      - et un circuit électro-pneumatique d'alimentation modulée des vé­rins (19-20) en fonctions des variations de la charge.1. Load compensating device of the kind comprising a detector (10) capable of stopping the movement of the load (11) in the event that the latter encounters an obstacle and that the reaction of this load on the latter varies more or less with respect to a threshold, characterized in that it comprises:
- a fixed frame (13-14, 41) comprising two extreme stops (13 a -14, 42 a , 43);
- A slide (15) suitable for sliding in the frame (13-14, 41) between its extreme stops (13 a -14, 42 a , 43);
- an outer cap (16) provided with means (16a, 44) adapted to cooperate with the slider (15);
- an overload cylinder (19) disposed between the slide (15) and the frame (13-14);
- an underload cylinder (20) housed between the slide (15) and the outer bell (16);
- a counterweight (17) to which the cable (6) for handling the load is attached and movable axially between two limits relative to the outer bell (16);
- And an electro-pneumatic circuit for modulated supply of the cylinders (19-20) according to the load variations. 2. Dispositif suivant la revendication 1, caractérisé en ce que l'arma­ture fixe est constituée par au moins deux colonnes étagées (13) dont le fût inférieur (13b) est de plus grand diamètre que celui de la partie extrême (13c), les extrémités libres des deux colonnes (13), étant asso­ciées à une traverse (14) qui avec les épaulements (13a) des deux colon­nes (13) forment les deux butées de l'armature (13-14).2. Device according to claim 1, characterized in that the fixed frame is constituted by at least two stepped columns (13) whose lower barrel (13 b ) is of larger diameter than that of the end part (13 c ) , the free ends of the two columns (13) being associated with a crossmember (14) with the shoulders (13 a) of the two columns (13) form the two stops of the armature (13-14). 3. Dispositif suivant la revendication 2, caractérisé en ce que le cou­ lisseau (15) est réalisé sous la forme d'une plaque (15a) coulissant sur les parties extrêmes (13c) des colonnes (13) de l'armature fixe par le moyen de fourreaux (15b) destinés à limiter la course dudit coulisseau.3. Device according to claim 2, characterized in that the neck strip (15) is produced in the form of a plate (15 a ) sliding on the end parts (13 c ) of the columns (13) of the fixed frame by means of sleeves (15 b ) intended to limit the stroke of said slide. 4. Dispositif suivant la revendication 3, caractérisé en ce que la clo­che extérieure (16) est montée coulissante par rapport aux fûts (13b) des colonnes (13), par l'intermédiaire de son fond (16b) et en ce que son dessus porte des colonnettes (16c) dont les extrémités sont munies de butées (16d).4. Device according to claim 3, characterized in that the external bell (16) is slidably mounted relative to the barrels (13 b ) of the columns (13), by means of its bottom (16 b ) and in that its top carries balusters (16 c ), the ends of which are provided with stops (16 d ). 5. Dispositif suivant la revendication 4, caractérisé en ce que le con­tre-poids (17) est monté à coulissement par rapport aux colonnettes (16c) de la cloche.5. Device according to claim 4, characterized in that the counterweight (17) is slidably mounted relative to the balusters (16 c ) of the bell. 6. Dispositif suivant l'une quelconque des revendications précédentes, caractérisé en ce que les vérins de surcharge (19) et de sous-charge (20) sont en appui contre la traverse (14) et le coulisseau (15), et respectivement contre ce dernier et le fond (16b) de la cloche (16).6. Device according to any one of the preceding claims, characterized in that the overload (19) and underload (20) cylinders bear against the cross-member (14) and the slide (15), and respectively against the latter and the bottom (16 b ) of the bell (16). 7. Dispositif suivant la revendication 1, caractérisé en ce que l'arma­ture (41) est constituée par un élément tubulaire (42) fermé à son ex­trémité ouverte par un couvercle (43) et dans le passage central duquel est ménagé un épaulement (42a) qui forme avec le couvercle (43) les butées externes de l'armature entre lesquelles le coulisseau 15 se déplace, tandis que ce dernier est relié au fond (16d) de la cloche (16) au moyen d'une entretoise tubulaire (44) entourant le vérin (20).7. Device according to claim 1, characterized in that the frame (41) is constituted by a tubular element (42) closed at its open end by a cover (43) and in the central passage of which is provided a shoulder (42 a ) which forms with the cover (43) the external stops of the frame between which the slide 15 moves, while the latter is connected to the bottom (16 d ) of the bell (16) by means of a tubular spacer (44) surrounding the cylinder (20). 8. Dispositif suivant la revendication 1, caractérisé en ce que l'amatu­re fixe (13-14, 41) est solidaire du chariot (1) d'un engin de levage.8. Device according to claim 1, characterized in that the fixed amature (13-14, 41) is integral with the carriage (1) of a lifting machine. 9. Dispositif suivant l'une quelconque des revendications 1 à 8, carac­térisé en ce que le circuit pneumatique d'alimentation comporte deux branches (22-23), (24-25) destinées respectivement à l'alimentation des vérins, chaque branche comportant des moyens d'alimenter le vérin cor­respondant sous des pressions variables (PU1, PU2) pour le vérin de sur­charge (19), (PO1 et PO2) pour le vérin de sous-charge (20).9. Device according to any one of claims 1 to 8, characterized in that the pneumatic supply circuit comprises two branches (22-23), (24-25) intended respectively for supplying the jacks, each branch comprising means for supplying the corresponding cylinder under variable pressures (PU1, PU2) for the overload cylinder (19), (PO1 and PO2) for the underload cylinder (20). 10. procédé de régulation des pressions des vérins de surcharge (19) et de sous-charge (20) du dispositif suivant la revendication 9, caractéri­ sé en ce qu'en période de fonctionnement normal hors incident, il con­siste à déterminer la pression PU1 appliquée au vérin de surcharge et celle PO1 appliquée au vérin de sous-charge telle que la force dévelop­pée par ces vérins matintient le coulisseau en appui contre la butée (13a, 42a) de l'armature (13-14, 41).10. method for regulating the pressures of the overload (19) and underload (20) cylinders of the device according to claim 9, character in that during normal operation without incident, it consists in determining the pressure PU1 applied to the overload cylinder and that PO1 applied to the underload cylinder such that the force developed by these cylinders matinises the slide bearing against the stop (13 a , 42 a ) of the armature (13-14, 41). 11. Procédé de régulation des pressions des vérins de surcharge (19) et de sous-charge (20) du dispositif suivant la revendication 9, caracté­risé en ce qu'il consiste à appliquer au vérin de surcharge une pression PU2 inférieure à celle PU1.11. Method for regulating the pressures of the overload (19) and underload (20) cylinders of the device according to claim 9, characterized in that it consists in applying to the overload cylinder a pressure PU2 lower than that PU1. 12. Procédé de régulation des pressions des vérins de surcharge (19) et de sous-charge (20) du dispositif suivant la revendication 9, caracté­risé en ce qu'en période de sous-charge il consiste à appliquer au vérin de sous-charge une pression PO2 supérieure à celle PO1.12. Method for regulating the pressures of the overload (19) and underload (20) cylinders of the device according to claim 9, characterized in that during the underload period, it consists in applying to the underload cylinder a pressure PO2 higher than that PO1.
EP88420163A 1987-05-20 1988-05-20 Load compensation device for a maintenance vehicle, and method for effectuating the compensation Expired - Lifetime EP0292413B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT88420163T ATE57514T1 (en) 1987-05-20 1988-05-20 LOAD COMPENSATION DEVICE FOR A LIFTING DEVICE AND METHOD OF ACHIEVE SUCH COMPENSATION.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8707277 1987-05-20
FR8707277A FR2615500B1 (en) 1987-05-20 1987-05-20 LOAD COMPENSATOR DEVICE FOR A HANDLING MACHINE AND METHOD FOR IMPLEMENTING SUCH COMPENSATION

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EP0292413A1 true EP0292413A1 (en) 1988-11-23
EP0292413B1 EP0292413B1 (en) 1990-10-17

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US (1) US4886174A (en)
EP (1) EP0292413B1 (en)
AT (1) ATE57514T1 (en)
DE (1) DE3860817D1 (en)
ES (1) ES2018715B3 (en)
FR (1) FR2615500B1 (en)

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FR2764591A1 (en) * 1997-06-13 1998-12-18 Framatome Sa Load compensation system for a manipulator
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FR2753188A1 (en) * 1996-09-10 1998-03-13 Reel Sa METHOD FOR CONTROLLING THE OPERATION OF A LOAD COMPENSATING DEVICE AND CHARGE COMPENSATOR USING THE SAME
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FR2764591A1 (en) * 1997-06-13 1998-12-18 Framatome Sa Load compensation system for a manipulator
CN101062748B (en) * 2006-04-25 2010-06-16 里尔有限公司 Load compensation device for a lifting apparatus
US7780145B2 (en) 2006-04-25 2010-08-24 Reel Load compensating device, especially for lifting appliance

Also Published As

Publication number Publication date
EP0292413B1 (en) 1990-10-17
FR2615500B1 (en) 1989-07-28
US4886174A (en) 1989-12-12
DE3860817D1 (en) 1990-11-22
ATE57514T1 (en) 1990-11-15
ES2018715B3 (en) 1991-05-01
FR2615500A1 (en) 1988-11-25

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