EP0387399A2 - Procédé et dispositif pour la commande des fonctions d'une grue mobile à flèche télescopique - Google Patents

Procédé et dispositif pour la commande des fonctions d'une grue mobile à flèche télescopique Download PDF

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Publication number
EP0387399A2
EP0387399A2 EP89118021A EP89118021A EP0387399A2 EP 0387399 A2 EP0387399 A2 EP 0387399A2 EP 89118021 A EP89118021 A EP 89118021A EP 89118021 A EP89118021 A EP 89118021A EP 0387399 A2 EP0387399 A2 EP 0387399A2
Authority
EP
European Patent Office
Prior art keywords
crane
control module
measuring
boom
functions
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.)
Granted
Application number
EP89118021A
Other languages
German (de)
English (en)
Other versions
EP0387399B1 (fr
EP0387399A3 (fr
Inventor
Helmut Dipl.-Ing. Blase
Walter Dipl.-Ing. Kirchner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
PPM SA
Original Assignee
Century Ii Mobilkrane GmbH
PPM SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE19893908571 external-priority patent/DE3908571A1/de
Priority claimed from DE19893913516 external-priority patent/DE3913516A1/de
Application filed by Century Ii Mobilkrane GmbH, PPM SA filed Critical Century Ii Mobilkrane GmbH
Priority to AT89118021T priority Critical patent/ATE103881T1/de
Publication of EP0387399A2 publication Critical patent/EP0387399A2/fr
Publication of EP0387399A3 publication Critical patent/EP0387399A3/fr
Application granted granted Critical
Publication of EP0387399B1 publication Critical patent/EP0387399B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control

Definitions

  • the invention relates to a method and a device for controlling the crane functions and load paths of hydraulic crane drives of a mobile telescopic jib crane.
  • Such mobile telescopic jib cranes are increasingly used in ever-expanding areas of application that go beyond the classic areas of application. They are therefore equipped with a wide range of additional equipment, such as concrete buckets, grabs and the like, and are e.g. used in handling and general cargo operations or for pouring concrete foundations.
  • additional equipment such as concrete buckets, grabs and the like
  • the focus is on the need to optimize performance, payloads and lifting heights. In doing so, dead loads are to be reduced to reduce overall weights and axle loads.
  • the object of the invention is to provide a solution with which the normal operation of such cranes is simplified, in particular to relieve the crane driver.
  • this object is achieved according to the invention in that the crane functions and load paths are first manually entered and simultaneously recorded, processed and stored by an electronic control module, and that the crane functions for automatic control of the load paths with manual speed control by the control module can be called up, whereby the load paths can also be changed at any time by renewed manual intervention.
  • the invention particularly provides that the telescopic length and the telescopic speed of each boom section and / or the luffing cylinder and / or the angular positions of the telescopic boom and the luffing jib and / or locking devices of the boom sections each can be individually removed, monitored and controlled accordingly using a separate measuring element.
  • the angular positions of the telescopic arms are usually determined with respect to the horizontal and those of the luffing arms are usually determined with respect to the assigned telescopic arm axis.
  • the individual boom sections are extended or retracted synchronously by the control module.
  • This configuration makes it possible to ensure a particularly good load distribution to the individual boom sections, since the load is distributed approximately uniformly over the boom sections if they are telescoped evenly, which is particularly important if the boom sections are only extended in regions , ie the maximum total length of the boom is not fully used.
  • the invention also provides a device with measuring and control devices for the individual crane functions of the hydraulic crane drive, which is characterized in that the individual measuring and control devices are connected to an electronic control module, the control devices optionally being manual or can be actuated by the control module or mixed.
  • Such a device is suitable for carrying out the method according to the invention, by connecting the individual measuring and control devices with an electronic control module and the central control by the control module, it is possible to automate certain set-up and work processes, so that the crane driver is relieved.
  • a particularly advantageous embodiment of the device according to the invention is that each boom section for individual extension length measurement and speed measurement is equipped with its own measuring element with an associated measuring device, which is connected to the control module for the transmission of measured values.
  • the respective measuring element is designed as a rope or cable with an associated winding roller and the respective measuring device as a rotary encoder assigned to the respective winding roller is.
  • These structural configurations are particularly suitable since such ropes or cables can be easily adapted to different lengths by corresponding winding or unwinding.
  • other measuring elements or devices such as chains, racks or the like can also be provided here.
  • sensors are provided for measuring the angular positions of the telescopic boom and the luffing jib and are connected to the control module for the transmission of measured values. In this way, monitoring and control of these crane functions is also possible accordingly.
  • a rotary encoder for detecting the angular position of the superstructure relative to the undercarriage and the rotational speed is arranged on the slewing gear of the crane superstructure or on the superstructure itself, which is connected to the control module for the transmission of measured values.
  • rotary encoders for measuring the speed and for measuring the cable layers are arranged with pressure rollers with angle sensors which are connected to the control module for the transmission of measured values.
  • a common display device for the separate display of the individual crane functions, which e.g. is arranged in the cab.
  • the crane driver can then record the individual crane functions separately from one another in a particularly simple manner.
  • a mobile telescopic boom crane generally designated 1, has an undercarriage 2 and an uppercarriage 3, the uppercarriage 3 being pivotable relative to the undercarriage 2 about a vertical axis 4.
  • the undercarriage 2 carries the chassis with wheels 5 and a driver's cab 6 as well as other devices which are not important here.
  • the uppercarriage 3 initially has a bogie 7, on which an operating cabin 8 is arranged, from which the crane functions can be operated.
  • a telescopic crane boom 9 is arranged on the bogie 7 so as to be pivotable about a horizontal axis, the pivotability being able to be carried out by means of a luffing cylinder 10.
  • the telescopic crane boom 9 has a basic boom 11 and three mutually guided, individually telescopic telescopic boom sections 12, 13, 14 each with collars 12a, 13a, 14a and an innermost telescopic boom section 15 with a boom tip 15a.
  • a jib 16 is arranged on the jib tip 15a about a horizontal axis and a load hook 17 or the like is guided at the free end thereof.
  • the uppercarriage 3 can thus first be pivoted about the vertical axis 4 relative to the undercarriage 2, while the crane boom 9 can additionally be pivoted about a horizontal axis by means of the luffing cylinder 10 and its total length by corresponding telescoping of the individual boom sections 12, 13, 14 , 15 is variable.
  • the luffing jib 16 can still be pivoted about a horizontal axis relative to the crane jib 9.
  • the jib 16 and the load hook 17 are connected to a winch hoist 18, which is on the bogie 7th arranged cable drums 19. With these winch hoists on the one hand the adjustment of the jib 16 relative to the boom 9 and on the other hand the vertical movement of the load hook 17 can be controlled.
  • each boom section 12, 13, 14, 15 is equipped with a steel cable 12b, 13b, 14b, 15b designed as a length measuring element, one end of which is fixed to the respective collar 12a, 13a, 14a, 15a .
  • the respective other end of the steel cables is in each case rolled up on a take-up roll 12c, 13c, 14c, 15c, these take-up rolls being rotatably arranged on the basic boom 11 of the crane boom 9.
  • Each take-up reel 12c, 13c, 14c, 15c is assigned its own rotary encoder 12d, 13d, 14d, 15d, via which the revolutions of the take-up reels and thus the extension lengths of the steel cables and thus the individual telescopic boom sections can be measured.
  • an angle transmitter 20 is arranged on the jib boom 16 and an angle transmitter 21 is arranged on the base boom 11.
  • Rotary encoders 22 are provided on the cable drums 19 of the load lifting mechanism 18, by means of which the speed of the cable drums can be detected.
  • a measuring sensor 23 is provided as a measuring device for the luffing cylinder 10 and a rotary sensor 24 is provided as a measuring device for pivoting the upper carriage 3 relative to the undercarriage 2.
  • a measuring transducer 25 is additionally arranged on the innermost boom section 15, which is used to determine the position of locking and / or holding bolts, not shown, which enable the penultimate boom section 14 and the innermost boom section 15 to be telescoped together .
  • All measuring devices or measuring elements 12d, 13d, 14d, 15d, 20, 21, 22, 23, 24, 25 are equipped with an electronic control module 26, e.g. a microprocessor, which is preferably arranged in the operating cabin 8 of the crane superstructure 3.
  • This control module 26 is additionally connected to a display and operating device 27, which is also preferably arranged in the operating cabin 8.
  • the operator presets all crane functions, for example angular positioning of the crane superstructure 3 with respect to the undercarriage 2, angular positioning of the crane boom 9 and the jib 16, extension lengths Handing of the individual telescopic boom 12, 13, 14, actuation of the load hoist 22 and the like, entered manually one after the other by means of the device 27 and at the same time recorded, processed and stored by the electronic control module 26.
  • the control module i.e. the crane functions are controlled automatically by the control module, monitoring being carried out by the measuring devices, each of which is separately connected to the control module 26.
  • the display device 27 shows the operator all the crane functions at any time, only the boom length measurement of the individual crane boom sections being shown in FIG. 3 by way of example.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
EP89118021A 1989-03-16 1989-09-29 Procédé et dispositif pour la commande des fonctions d'une grue mobile à flèche télescopique Expired - Lifetime EP0387399B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT89118021T ATE103881T1 (de) 1989-03-16 1989-09-29 Verfahren und vorrichtung zur steuerung der kranfunktionen eines mobilen teleskopauslegerkrans.

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE19893908571 DE3908571A1 (de) 1989-03-16 1989-03-16 Vorrichtung zum wenigstens zeitweisen koppeln der beiden letzten ineinander gefuehrten teleskopischen auslegerschuesse eines kranauslegers
DE3908571 1989-03-16
DE19893913516 DE3913516A1 (de) 1989-04-25 1989-04-25 Vorrichtung zur messung der ausfahrlaengen von teleskopauslegerschuessen eines kranauslegers
DE3913516 1989-04-25

Publications (3)

Publication Number Publication Date
EP0387399A2 true EP0387399A2 (fr) 1990-09-19
EP0387399A3 EP0387399A3 (fr) 1991-03-13
EP0387399B1 EP0387399B1 (fr) 1994-04-06

Family

ID=25878859

Family Applications (1)

Application Number Title Priority Date Filing Date
EP89118021A Expired - Lifetime EP0387399B1 (fr) 1989-03-16 1989-09-29 Procédé et dispositif pour la commande des fonctions d'une grue mobile à flèche télescopique

Country Status (3)

Country Link
EP (1) EP0387399B1 (fr)
DE (1) DE58907414D1 (fr)
ES (1) ES2050748T3 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2697007A1 (fr) * 1992-10-20 1994-04-22 Euro Montage Capteur de position de translation pour un engin de levage tel qu'une grue.
WO1995017343A1 (fr) * 1993-12-23 1995-06-29 Kidde Industries Inc. Ameliorations apportees aux fleches telescopiques de grues
DE4409153A1 (de) * 1994-03-17 1995-09-21 Faun Gmbh Verfahren zur Erfassung der Änderung des Radius eines Auslegers eines Kranes unter Last
WO1996022936A1 (fr) * 1995-01-26 1996-08-01 Siemens Aktiengesellschaft Procede et dispositif pour le transport d'une charge
EP0728696A1 (fr) * 1993-11-08 1996-08-28 Komatsu Ltd. Dispositif de detection du moment de basculement et de charge soulevee pour une grue mobile
ES2127679A1 (es) * 1996-04-18 1999-04-16 Ramis Rubio Antonio Sistema de enganche, sujeccion, apertura y cierre para contenedores de residuos solidos.
EP1227055A2 (fr) * 2001-01-29 2002-07-31 F.lli Locatelli S.p.A. Grue mobile
US7063306B2 (en) 2003-10-01 2006-06-20 Paccar Inc Electronic winch monitoring system

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108715410B (zh) * 2018-08-08 2019-12-24 浙江三一装备有限公司 一种履带起重机塔况智能起臂落臂控制装置及控制方法

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2287410A1 (fr) * 1974-10-08 1976-05-07 Hiab Foco Ab Grue hydraulique de chargement a programme controle
FR2320894A1 (fr) * 1975-08-14 1977-03-11 Forney International Dispositif de mesure et d'affichage de charge pour une grue a bras de longueur variable
DE2620809A1 (de) * 1976-05-11 1977-11-17 Orenstein & Koppel Ag Einrichtung zur positionsanzeige und zur automatischen positionsregulierung des grabgefaesses fuer hydraulisch betaetigte erdbewegungsmaschinen
DE2641082A1 (de) * 1976-09-11 1978-03-16 Krupp Gmbh Mobilkranlastmomentbegrenzungseinrichtung
DE2836108A1 (de) * 1978-08-17 1980-02-28 Krupp Gmbh Lastkraftmess- und sicherheitseinrichtung fuer einen kran
DE2910057A1 (de) * 1979-03-14 1980-09-25 Pietzsch Ludwig Lastmomentbegrenzer fuer einen kran
FR2461676A1 (fr) * 1979-07-17 1981-02-06 Casteran Jean Procede pour la commande automatique de la trajectoire du fardeau d'un engin de levage et dispositif pour sa mise en oeuvre
US4288196A (en) * 1979-06-14 1981-09-08 Sutton Ii James O Computer controlled backhoe
EP0059901A1 (fr) * 1981-03-05 1982-09-15 CAMIVA Société anonyme dite : Dispositif de commande à microprocesseur pour échelle orientable déployable ou bras élévateur analogue
DE3341287A1 (de) * 1982-12-02 1984-06-07 Krüger GmbH & Co KG, 4300 Essen Lastueberwachungseinrichtung fuer einen auslegerkran
EP0206940A1 (fr) * 1985-06-21 1986-12-30 Camiva Procédé de commande d'une échelle sur véhicule
US4752012A (en) * 1986-08-29 1988-06-21 Harnischfeger Corporation Crane control means employing load sensing devices
EP0285710A1 (fr) * 1987-03-06 1988-10-12 3B6 sistemi elettro-idraulici s.n.c. Dispositif limitateur de portée et/ou de moment pour plates-formes élévatrices

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2287410A1 (fr) * 1974-10-08 1976-05-07 Hiab Foco Ab Grue hydraulique de chargement a programme controle
FR2320894A1 (fr) * 1975-08-14 1977-03-11 Forney International Dispositif de mesure et d'affichage de charge pour une grue a bras de longueur variable
DE2620809A1 (de) * 1976-05-11 1977-11-17 Orenstein & Koppel Ag Einrichtung zur positionsanzeige und zur automatischen positionsregulierung des grabgefaesses fuer hydraulisch betaetigte erdbewegungsmaschinen
DE2641082A1 (de) * 1976-09-11 1978-03-16 Krupp Gmbh Mobilkranlastmomentbegrenzungseinrichtung
DE2836108A1 (de) * 1978-08-17 1980-02-28 Krupp Gmbh Lastkraftmess- und sicherheitseinrichtung fuer einen kran
DE2910057A1 (de) * 1979-03-14 1980-09-25 Pietzsch Ludwig Lastmomentbegrenzer fuer einen kran
US4288196A (en) * 1979-06-14 1981-09-08 Sutton Ii James O Computer controlled backhoe
FR2461676A1 (fr) * 1979-07-17 1981-02-06 Casteran Jean Procede pour la commande automatique de la trajectoire du fardeau d'un engin de levage et dispositif pour sa mise en oeuvre
EP0059901A1 (fr) * 1981-03-05 1982-09-15 CAMIVA Société anonyme dite : Dispositif de commande à microprocesseur pour échelle orientable déployable ou bras élévateur analogue
DE3341287A1 (de) * 1982-12-02 1984-06-07 Krüger GmbH & Co KG, 4300 Essen Lastueberwachungseinrichtung fuer einen auslegerkran
EP0206940A1 (fr) * 1985-06-21 1986-12-30 Camiva Procédé de commande d'une échelle sur véhicule
US4752012A (en) * 1986-08-29 1988-06-21 Harnischfeger Corporation Crane control means employing load sensing devices
EP0285710A1 (fr) * 1987-03-06 1988-10-12 3B6 sistemi elettro-idraulici s.n.c. Dispositif limitateur de portée et/ou de moment pour plates-formes élévatrices

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2697007A1 (fr) * 1992-10-20 1994-04-22 Euro Montage Capteur de position de translation pour un engin de levage tel qu'une grue.
EP0728696A1 (fr) * 1993-11-08 1996-08-28 Komatsu Ltd. Dispositif de detection du moment de basculement et de charge soulevee pour une grue mobile
EP0728696A4 (fr) * 1993-11-08 1997-05-28 Komatsu Mfg Co Ltd Dispositif de detection du moment de basculement et de charge soulevee pour une grue mobile
WO1995017343A1 (fr) * 1993-12-23 1995-06-29 Kidde Industries Inc. Ameliorations apportees aux fleches telescopiques de grues
DE4409153A1 (de) * 1994-03-17 1995-09-21 Faun Gmbh Verfahren zur Erfassung der Änderung des Radius eines Auslegers eines Kranes unter Last
WO1996022936A1 (fr) * 1995-01-26 1996-08-01 Siemens Aktiengesellschaft Procede et dispositif pour le transport d'une charge
ES2127679A1 (es) * 1996-04-18 1999-04-16 Ramis Rubio Antonio Sistema de enganche, sujeccion, apertura y cierre para contenedores de residuos solidos.
EP1227055A2 (fr) * 2001-01-29 2002-07-31 F.lli Locatelli S.p.A. Grue mobile
EP1227055A3 (fr) * 2001-01-29 2003-03-05 F.lli Locatelli S.p.A. Grue mobile
US7063306B2 (en) 2003-10-01 2006-06-20 Paccar Inc Electronic winch monitoring system
US7201366B2 (en) 2003-10-01 2007-04-10 Paccar Inc. Electronic winch monitoring system

Also Published As

Publication number Publication date
ES2050748T3 (es) 1994-06-01
EP0387399B1 (fr) 1994-04-06
DE58907414D1 (de) 1994-05-11
EP0387399A3 (fr) 1991-03-13

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