EP0387399B1 - 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
EP0387399B1
EP0387399B1 EP89118021A EP89118021A EP0387399B1 EP 0387399 B1 EP0387399 B1 EP 0387399B1 EP 89118021 A EP89118021 A EP 89118021A EP 89118021 A EP89118021 A EP 89118021A EP 0387399 B1 EP0387399 B1 EP 0387399B1
Authority
EP
European Patent Office
Prior art keywords
crane
control module
measuring
jib
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.)
Expired - Lifetime
Application number
EP89118021A
Other languages
German (de)
English (en)
Other versions
EP0387399A3 (fr
EP0387399A2 (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
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 PPM SA filed Critical PPM SA
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.
  • Mobile telescopic jib cranes of this type are increasingly being used in ever-expanding fields of application that go beyond the classic fields 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. In their actual work areas, crane operation and assembly, the focus is on the optimization of performance, loads 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 sick functions and load paths are first entered manually and at the same time recorded, processed and stored by an electronic control module, and then 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 be changed at any time by manual intervention.
  • the invention provides in particular that the telescopic length and the telescopic speed of each jib section and / or the luffing cylinder and / or the angular positions of the telescopic jib and the jib section and / or locking devices of the jib sections are individually removed via a separate measuring element, monitored and controlled accordingly.
  • the angular positions the telescopic boom usually determined with respect to the horizontal and that of the luffing jib usually with respect to the assigned telescopic boom axis.
  • the individual boom sleeves 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 evenly over the boom sections when 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, the individual measuring and control devices being connected to an electronic control module and the control devices being optionally operable manually or by the control module , which is characterized in that the control devices can additionally be operated in a mixed manner in such a way that the automatic control by the control module can be overlaid by manual intervention.
  • 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 adapted very easily 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 that are not important here.
  • the superstructure 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 free hook 17 or the like is guided at the free end thereof.
  • the superstructure 3 can thus first be pivoted about the vertical axis 4 with respect 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 telescopic action of the individual boom sections 12, 13, 14 , 15 is variable.
  • the luffing jib 16 can 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.
  • Encoders 22 are provided on the cable drums 19 of the load lifting gear 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 method of operation of the method according to the invention is as follows: First of all, all the crane functions, for example the angular positioning of the crane superstructure 3 with respect to the undercarriage 2, the angular positioning of the crane boom 9 and the jib boom 16, and the extension length specification are made by the operator of the individual telescopic booms 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. As soon as all the repetitive functions have been entered manually, they can be called up automatically by the control module, i.e. the crane functions are then controlled automatically by the control module, monitoring being carried out by the measuring devices which are each separately connected to the control module 26. At the same time, 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)

Claims (11)

  1. Procédé pour la commande des fonctions de manutention et des courses de charge d'entraînements hydrauliques d'une grue mobile à flèche télescopique,
    caractérisé par le fait
    que les fonctions de manutention et les courses de charge sont tout d'abord saisies manuellement et sont simultanément reçues, traitées et mémorisées par un module de commande électronique ; et par le fait que les fonctions de manutention sort ensuite interrogeables par le module de commande en vue de la commande automatique des courses de charge, avec régulation manuelle de la vitesse, les courses de charge pouvant être, elles aussi, modifiées à tout instant par une nouvelle intervention manuelle.
  2. Procédé selon la revendication 1,
    caractérisé par le fait
    que les fonctions de manutention sont individuellement recueillies, surveillées et commandées en conséquence par le module de commande, par l'intermédiaire de systèmes de mesurage respectivement distincts.
  3. Procédé selon la revendication 1 ou 2,
    caractérisé par le fait
    que la longueur de télescopage et la vitesse de télescopage de chaque segment de la flèche et/ou du vérin de basculement, et/ou les positions angulaires de la flèche télescopique et de la fléchette, et/ou de systèmes de verrouillage des segments de la flèche, sont individuellement recueillies, surveillées et commandées en conséquence par l'intermédiaire d'un propre élément respectif de mesurage.
  4. Procédé selon l'une des revendications 1 à 3,
    caractérisé par le fait
    que les segments individuels de la flèche sont déployés ou rétractés en synchronisme, par le module de commande.
  5. Dispositif pour la mise en oeuvre du procédé selon l'une des revendications 1 à 4, présentant des systèmes de mesurage et de commande des fonctions individuelles de l'entraînement hydraulique de la grue, les systèmes individuels de mesurage et de commande étant raccordés à un module de commande électronique (26) et les systèmes de commande pouvant être actionnés, sélectivement, en mode manuel ou par l'intermédiaire du module de commande,
    caractérisé par le fait
    que les systèmes de commande peuvent être additionnellement actionnés en association, de telle sorte que la commande automatique puisse être supplantée prioritairement par l'intermédiaire du module de commande, par intervention manuelle.
  6. Dispositif selon la revendication 5,
    caractérisé par le fait
    que chaque segment (12, 13, 14, 15) de la flèche est équipé, en vue du mesurage individuel de la longueur de déploiement et du mesurage individuel de la vitesse, d'un propre élément de mesurage (12b, 13b, 14b, 15b) auquel est associé un système de mesurage (12d, 13d, 14d, 15d) qui est respectivement connecté au module de commande (26), pour la transmission de valeurs mesurées.
  7. Dispositif selon la revendication 6,
    caractérisé par le fait
    que l'élément respectif de mesurage (12b, 13b, 14b, 15b) est réalisé sous la forme d'un câble ou d'un cordage auquel un rouleau bobineur (12c, 13c, 14c, 15c) est associé, et le système respectif de mesurage (12d, 13d, 14d, 15d) est conçu sous la forme d'un capteur de rotations associé au rouleau bobineur considéré.
  8. Dispositif selon l'une des revendications 5 à 7,
    caractérisé par le fait
    que des enregistreurs de mesures (20, 21) sont prévus pour mesurer les positions angulaires de la flèche télescopique et des fléchettes, et sont raccordés au module de commande (26) en vue de la transmission de valeurs mesurées.
  9. Dispositif selon l'une des revendications 5 à 8,
    caractérisé par le fait
    qu'un capteur de rotations (24) est installé sur la transmission de pivotement de la caisse supérieure (3) de la grue ou sur cette caisse supérieure (3) proprement dite, pour détecter la position angulaire de la caisse supérieure 3) par rapport à la caisse inférieure (2), ainsi que la vitesse de rotation, et est raccordé au module de commande (26) en vue de la transmission de valeurs mesurées.
  10. Dispositif selon l'une des revendications 5 à 9,
    caractérisé par le fait
    qu'il est équipé de mécanismes (18) de levage de charges, pourvus de tambours (19) porte-câbles, les tambours (19) porte-câbles présentant des capteurs (22) de vitesses angulaires pour mesurer la vitesse angulaire et, pour mesurer les positions des câbles, des rouleaux presseurs associés à des capteurs angulaires qui sont raccordés au module de commande (26) en vue de la transmission de valeurs mesurées.
  11. Dispositif selon l'une des revendications 5 à 10,
    caractérisé par le fait
    qu'un système commun d'affichage (27) est prévu pour l'affichage distinct des fonctions individuelles de la grue.
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
DE3908571 1989-03-16
DE19893908571 DE3908571A1 (de) 1989-03-16 1989-03-16 Vorrichtung zum wenigstens zeitweisen koppeln der beiden letzten ineinander gefuehrten teleskopischen auslegerschuesse eines kranauslegers
DE3913516 1989-04-25
DE19893913516 DE3913516A1 (de) 1989-04-25 1989-04-25 Vorrichtung zur messung der ausfahrlaengen von teleskopauslegerschuessen eines kranauslegers

Publications (3)

Publication Number Publication Date
EP0387399A2 EP0387399A2 (fr) 1990-09-19
EP0387399A3 EP0387399A3 (fr) 1991-03-13
EP0387399B1 true 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 (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108715410A (zh) * 2018-08-08 2018-10-30 浙江三装备有限公司 一种履带起重机塔况智能起臂落臂控制装置及控制方法

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FR2697007B1 (fr) * 1992-10-20 1995-01-06 Euro Montage Capteur de position de translation pour un engin de levage tel qu'une grue.
JPH07125987A (ja) * 1993-11-08 1995-05-16 Komatsu Mec Corp 移動式クレーンの吊り荷重、転倒モーメント検出装置
GB9326347D0 (en) * 1993-12-23 1994-02-23 Grove Europ Limited Improvements in and relating to telescopic booms
DE4409153A1 (de) * 1994-03-17 1995-09-21 Faun Gmbh Verfahren zur Erfassung der Änderung des Radius eines Auslegers eines Kranes unter Last
DE19502421C2 (de) * 1995-01-26 1997-03-27 Siemens Ag Verfahren und Vorrichtung zum Transport einer Last
ES2127679B1 (es) * 1996-04-18 2000-05-16 Ramis Rubio Antonio Sistema de enganche, sujecion, apertura y cierre para contenedores de residuos solidos.
DE10103780A1 (de) * 2001-01-29 2002-08-01 Locatelli S P A Flli Kranfahrzeug
US7063306B2 (en) 2003-10-01 2006-06-20 Paccar Inc Electronic winch monitoring system

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DE2620809A1 (de) * 1976-05-11 1977-11-17 Orenstein & Koppel Ag Einrichtung zur positionsanzeige und zur automatischen positionsregulierung des grabgefaesses fuer hydraulisch betaetigte erdbewegungsmaschinen
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108715410A (zh) * 2018-08-08 2018-10-30 浙江三装备有限公司 一种履带起重机塔况智能起臂落臂控制装置及控制方法

Also Published As

Publication number Publication date
EP0387399A3 (fr) 1991-03-13
ES2050748T3 (es) 1994-06-01
EP0387399A2 (fr) 1990-09-19
DE58907414D1 (de) 1994-05-11

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