EP0577930B1 - Method for controlling a grab-bucket - Google Patents
Method for controlling a grab-bucket Download PDFInfo
- Publication number
- EP0577930B1 EP0577930B1 EP93105446A EP93105446A EP0577930B1 EP 0577930 B1 EP0577930 B1 EP 0577930B1 EP 93105446 A EP93105446 A EP 93105446A EP 93105446 A EP93105446 A EP 93105446A EP 0577930 B1 EP0577930 B1 EP 0577930B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- winch
- grab bucket
- length
- boom
- value
- 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
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2041—Automatic repositioning of implements, i.e. memorising determined positions of the implement
Definitions
- the invention relates to a method for controlling the gripper of a duty cycle crawler crane with a boom pivotably articulated on an uppercarriage.
- Cable dredgers of this type are used, for example, to create an excavation in which underground routes, for example motorway or railway lines, are built.
- Specifications for a corresponding excavation, which should be the same as the route to be built, are usually set out in tables relating to the sea level. Depending on the course of the route to be built, these specifications can vary greatly within a few meters.
- With conventional hydraulic crawler cranes it is very difficult for machine operators to comply with these specifications. Here, the depth reached must be determined using tools.
- the manual control of the gripper leads to a large source of error in which the actually specified tolerance for the excavation, which should be less than +/- 10 cm to the specified dimension, can hardly be achieved.
- EP 0 487 725 A discloses a mobile crane with a telescopic boom that has a working area limitation.
- This working area limitation can be monitored via a screen in the driver's cab, on which the current movement of the crane hook and the boom is shown.
- sensors are used, for example, to determine the length of the boom or the angle of the boom and the length of the cable extension using sensors and to process them in a logic.
- the processed data, together with stability criteria, is graphically displayed and passed on to the crane control system to reliably prevent instability.
- the object of the present invention is now to provide a method for automatically controlling the gripper of a duty cycle crawler crane, for example a hydraulic power shovel excavator, which enables the gripper to be moved down to a predetermined level and to be automatically closed there while maintaining tight tolerances can.
- a duty cycle crawler crane for example a hydraulic power shovel excavator
- this object is achieved in that a method of the type specified at the outset is created in accordance with the features of the characterizing part of the main claim.
- the rope length is first measured on the winch drum. This rope length is then corrected by a correction value that takes into account the boom length, the difference between the winch drum circumference and the circumference of the boom roll, the offset length from the winch center to the boom pivot point, the inclination of the superstructure to the normal level and taking into account the Boom angle, which is determined by measuring the angle at the boom articulation point.
- the excavator geometry is included in the calculation depending on the jib angle and the superstructure inclination.
- the rope length measured on the winch drum is corrected by the correction value, for example by means of a control computer.
- the hook height can be determined very precisely regardless of the position of the jib and the inclination of the upper structure.
- the rope length can be determined very precisely on the winch drum using an incremental rotary pulse generator.
- the controller can receive approximately 1,600 pulses per revolution from a rotary pulse generator.
- the number of received pulses can be converted into a rope length in centimeters in the computer control.
- the rope length on the winch drum can be determined with an accuracy of approx. 1.25 mm.
- the method can be designed in such a way that a limit switch value is additionally entered based on a predetermined level, with which the continuously measured rope length is compared and the lowering movement of the gripper is stopped when it is reached.
- the lowering movement of the gripper can be braked to a lower lowering speed at a predetermined distance from the limit switch value.
- This limit switch control serves to prevent the gripper from lowering below the predetermined level.
- the level, i.e. the zero point to which the limit switch should refer and the limit switch value can be entered, for example, in centimeters.
- the control of the excavator receives the signals for the limit switches when measuring the rope length.
- the excavator control brakes the lowering movement of the winches at a certain distance before reaching the lower limit switch, for example approx. 1 m before this value is reached. As soon as this distance is reached, the further lowering movement is slowed down by engaging a creeper. The lowering movement is automatically stopped when the specified value for the lower limit switch is reached.
- the method can be further developed in that the open After reaching the predetermined level, the gripper is controlled in its closing movement in such a way that the gripper edge always remains at the same level.
- a gripper closing stroke control when the gripper closes, the hoist winch automatically follows so that the gripper edge is always at the same level.
- the gripper edge can be kept at a predetermined level during the closing of the gripper in that the holding winch is followed the path measured on the closing winch on the basis of a curve calculated from the gripper geometry.
- the control is particularly user-friendly if the gripper is closed by activating this gripper closing stroke control after reaching the entered lower level.
- the method according to the invention can be used in a hydraulic cable excavator of a known type.
- a hydraulic cable excavator has an uppercarriage and a boom which is pivotably connected to it.
- the gripper is suspended in a known manner on ropes that have a holding winch or a closing winch extended or retracted.
- a detailed description of the hydraulic power shovel construction is unnecessary, since its construction is known to the person skilled in the art.
- the automatic control takes place via a control computer known per se.
- the rope length on the winch drums is first precisely determined using an incremental rotary pulse generator.
- the rope length is corrected for the exact determination of the lifting height of the gripper using the calculated geometry value.
- the computer takes the following factors into account when calculating the lifting height: the boom length, the boom position, which is determined by the angle measurement at the boom pivot point, the roll handling, i.e. the difference between the winch circumference and the circumference of the boom roll, the offset from the winch center to the boom pivot point and the Upper carriage inclination to normal level. From these values, the geometry value is calculated by which the control computer has to correct the measured rope length in order to determine the hook height independently of the position of the jib and the inclination of the superstructure. In addition, the geometry value can be corrected by a further correction value, which is determined by tests. This correction value then takes into account all influences that arise due to manufacturing tolerances or due to strength influences, such as, for example, deflection of the boom.
- a corresponding correction table is shown by way of example in FIG. 1.
- the correction value is given in mm on the ordinate, while the abscissa shows the cantilever angle in degrees from 0 ° to 90 °.
- These corresponding correction values are determined by the control computer and taken into account when determining the hook height.
- a corresponding limit switch control prevents the gripper from being lowered below the specified level. For this a reference point, to which all measurements should refer, and a lower limit switch value are entered into the control.
- the computer control now compares the corrected hook height values with the limit switch value when the gripper is lowered.
- the excavator control system brakes the lowering movement of the winches approx. 1 m before the lower limit switch value is reached, so that the winches lead to an even braking of the gripper by engaging a creeper. After reaching the limit switch value, the lowering movement is stopped.
- the gripper is opened when the lower level is reached. When the gripper closes, the hoist winch is automatically retraced using a gripper closing stroke control so that the gripper edge is always at the same level.
- the holding winch is followed on the basis of a curve calculated from the gripper geometry, the path measured on the closing winch.
- An example of such a gripper closing curve is shown in FIG. 2, where the stroke of the holding winch is shown on the ordinate and the corresponding stroke of the closing winch is shown for an example on the abscissa.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Earth Drilling (AREA)
- Operation Control Of Excavators (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Steuerung des Greifers eines Seilbaggers mit einem auf einem Oberwagen schwenkbar angelenkten Ausleger.The invention relates to a method for controlling the gripper of a duty cycle crawler crane with a boom pivotably articulated on an uppercarriage.
Derartige Seilbagger werden beispielsweise zum Erstellen eines Aushubs eingesetzt, bei dem unterirdische Trassen, beispielsweise Autobahntrassen oder Eisenbahntrassen etc. gebaut werden. Vorgaben für einen entsprechenden Aushub, der der zu errichtenden Trasse gleich sein soll, sind in der Regel in Tabellen, welche sich auf den Meeresspiegel beziehen, festgehalten. Diese Vorgaben können je nach Verlauf der zu errichtenden Trasse innerhalb von wenigen Metern stark unterschiedlich sein. Bei herkömmlichen Hydroseilbaggern ist es für die Maschinisten im Betrieb sehr schwierig, diese Vorgaben jeweils einzuhalten. Hier muß jeweils die erreichte Tiefe mit Hilfsmitteln ermittelt werden. Darüber hinaus führt die manuelle Steuerung des Greifers zu einer großen Fehlerquelle, bei der die eigentlich vorgegebene Toleranz für den Aushub, die kleiner als +/- 10cm zum vorgegebenen Maß sein soll, kaum erreichbar ist. Jede Überschreitung der vorgegebenen Toleranz führt zu großen Kosten für die ausführende Baufirma, insbesondere dann, wenn der gesamte Aushub unter dem Grundwasserspiegel liegt. Bei Nichteinhalten der Toleranz muß entweder nachträglich noch einmal nachgegraben werden. Bei einer Unterschreitung der vorgegebenen Solentiefe müssen eventuell sogar die Mehrkosten für den Unterwasserbeton getragen werden, so daß eine Fehlerkorrektur im Nachhinein sehr aufwendig und teuer wird.Cable dredgers of this type are used, for example, to create an excavation in which underground routes, for example motorway or railway lines, are built. Specifications for a corresponding excavation, which should be the same as the route to be built, are usually set out in tables relating to the sea level. Depending on the course of the route to be built, these specifications can vary greatly within a few meters. With conventional hydraulic crawler cranes, it is very difficult for machine operators to comply with these specifications. Here, the depth reached must be determined using tools. In addition, the manual control of the gripper leads to a large source of error in which the actually specified tolerance for the excavation, which should be less than +/- 10 cm to the specified dimension, can hardly be achieved. Any violation of the specified tolerance leads to high costs for the construction company, especially if the entire excavation is below the groundwater level. If the tolerance is not adhered to, either subsequently be dug again. If the specified brine depth is undershot, the additional costs for the underwater concrete may even have to be borne, so that an error correction in retrospect becomes very complex and expensive.
Aus der EP 0 487 725 A ist ein Mobilkran mit teleskopierbarem Ausleger bekannt, der eine Arbeitsbereichsbegrenzung aufweist. Diese Arbeitsbereichsbegrenzung ist über einen Bildschirm im Fahrerhaus, in welchem die aktuelle Bewegung des Kranhakens und des Auslegers abgebildet ist, überwachbar. Hierzu werden über Sensoren beispielsweise die Auslegerlänge oder der Auslegerwinkel und die Seilauszugslänge über Sensoren erfaßt und in einer Logik verarbeitet. Die verarbeiteten Daten werden mitsamt von Stabilitätskriterien graphisch dargestellt und an die Kransteuerung übergeben, um eine Instabilität sicher zu verhindern.
Aufgabe der vorliegenden Erfindung ist es nun, ein Verfahren für eine automatische Steuerung des Greifers eines Seilbaggers, beispielsweise eines Hydroseilbaggers, an die Hand zu geben, das es ermöglicht, den Greifer auf ein vorzugebendes Niveau abzufahren und dort automatisch zu schließen wobei enge Toleranzen eingehalten werden können.The object of the present invention is now to provide a method for automatically controlling the gripper of a duty cycle crawler crane, for example a hydraulic power shovel excavator, which enables the gripper to be moved down to a predetermined level and to be automatically closed there while maintaining tight tolerances can.
Erfindungsgemäß wird diese Aufgabe dadurch gelöst, daß ein Verfahren der eingangs angegebenen Art entsprechend der Merkmale des kennzeichnenden Teils des Hauptanspruchs geschaffen wird. Dabei wird zur Ermittlung der sogenannten effektiven Hakenhöhe zunächst die Seillänge an der Windentrommel gemessen. Diese Seillänge wird dann um einen Korrekturwert korrigiert, der unter Berücksichtigung der Auslegerlänge, der Differenz zwischen dem Windentrommelumfang und dem Umfang der Auslegerrolle, der Versatzlänge vom Windenmittelpunkt zum Auslegeranlenkpunkt, der Neigung des Oberwagens zum Normalniveau und unter Berücksichtigung des Auslegerwinkels, der durch Winkelmessung am Auslegeranlenkpunkt ermittelt wird, bestimmt wird. Durch die Bestimmung dieser korrigierten Seillängenmessung kann die Hubhöhe des Greifers sehr genau ermittelt werden. Bei der Ermittlung der Hubhöhe des Greifers wird erfindungsgemäß die Baggergeometrie in Abhängigkeit von Auslegerwinkel und Oberwagenneigung in die Berechnung mit einbezogen. Die an der Windentrommel gemessene Seillänge wird beispielsweise mittels eines Steuerungsrechners um den Korrekturwert korrigiert. Hier kann unabhängig von der Auslegerstellung und der Oberwagenneigung die Hakenhöhe sehr genau ermittelt werden.According to the invention, this object is achieved in that a method of the type specified at the outset is created in accordance with the features of the characterizing part of the main claim. To determine the so-called effective hook height, the rope length is first measured on the winch drum. This rope length is then corrected by a correction value that takes into account the boom length, the difference between the winch drum circumference and the circumference of the boom roll, the offset length from the winch center to the boom pivot point, the inclination of the superstructure to the normal level and taking into account the Boom angle, which is determined by measuring the angle at the boom articulation point. By determining this corrected rope length measurement, the lifting height of the gripper can be determined very precisely. When determining the lifting height of the gripper, according to the invention the excavator geometry is included in the calculation depending on the jib angle and the superstructure inclination. The rope length measured on the winch drum is corrected by the correction value, for example by means of a control computer. The hook height can be determined very precisely regardless of the position of the jib and the inclination of the upper structure.
Die Seillänge kann an der Windentrommel mittels eines incrementalen Rotationsimpulsgebers hochgenau bestimmt werden. Dabei kann beispielsweise die Steuerung von einem Rotationsimpulsgeber ca. 1.600 Impulse pro Umdrehung aufnehmen. Durch Festlegung der Impulsanzahl und des Windenumfangs kann in der Rechnersteuerung die Anzahl der empfangenen Impulse in eine Seillänge in Zentimetern umgerechnet werden. Die Seillänge an der Windentrommel kann so auf ca. 1,25 mm genau bestimmt werden.The rope length can be determined very precisely on the winch drum using an incremental rotary pulse generator. For example, the controller can receive approximately 1,600 pulses per revolution from a rotary pulse generator. By specifying the number of pulses and the size of the winch, the number of received pulses can be converted into a rope length in centimeters in the computer control. The rope length on the winch drum can be determined with an accuracy of approx. 1.25 mm.
Das Verfahren kann derart ausgestaltet werden, daß zusätzlich bezogen auf ein vorgegebenes Niveau ein Endschalterwert eingegeben wird, mit dem die kontinuierlich gemessene Seillänge verglichen wird und bei dessen Erreichen die Absenkbewegung des Greifers gestoppt wird. In einem vorgegebenen Abstand von dem Endschalterwert kann die Absenkbewegung des Greifers auf eine geringere Absenkgeschwindigkeit abgebremst werden. Diese Endschaltersteuerung dient dazu, ein Absenken des Greifers unter das vorgegebene Niveau zu verhindern. In die Steuerung muß das Niveau, d.h. der Nullpunkt, auf den sich der Endschalter beziehen soll und der Endschalterwert beispielsweise in Zentimetern eingegeben werden. Die Steuerung des Baggers erhält nach Einstellung des Endschalterwertes bei der Seillängenmessung die Signale für die Endschalter. Bei aktivierter Greifersteuerung bremst die Baggersteuerung die Senkbewegung der Winden in einem bestimmten Abstand vor Erreichen des unteren Endschalters, beispielsweise ca. 1 m vor Erreichen dieses Wertes. Sobald dieser Abstand erreicht wird, wird die weitere Absenkbewegung durch Zuschaltung eines Kriechganges verlangsamt. Bei Erreichen des angegebenen Wertes für den unteren Endschalter wird die Absenkbewegung automatisch gestoppt.The method can be designed in such a way that a limit switch value is additionally entered based on a predetermined level, with which the continuously measured rope length is compared and the lowering movement of the gripper is stopped when it is reached. The lowering movement of the gripper can be braked to a lower lowering speed at a predetermined distance from the limit switch value. This limit switch control serves to prevent the gripper from lowering below the predetermined level. The level, i.e. the zero point to which the limit switch should refer and the limit switch value can be entered, for example, in centimeters. After setting the limit switch value, the control of the excavator receives the signals for the limit switches when measuring the rope length. When the gripper control is activated, the excavator control brakes the lowering movement of the winches at a certain distance before reaching the lower limit switch, for example approx. 1 m before this value is reached. As soon as this distance is reached, the further lowering movement is slowed down by engaging a creeper. The lowering movement is automatically stopped when the specified value for the lower limit switch is reached.
Das Verfahren kann dadurch weiter ausgestaltet sein, daß der geöffnete Greifer nach Erreichen des vorgegebenen Niveaus bei seiner Schließbewegung derart gesteuert wird, daß die Greiferkante immer auf demselben Niveau verbleibt. Mittels einer derartigen Greiferschließhubsteuerung fährt beim Schließen des Greifers die Hubwinde automatisch so nach, daß sich die Greiferkante immer auf demselben Niveau befindet. Damit ist die vom Greifer bearbeitete Fläche möglichst eben, da die vom Greifer beim Schließen beschriebene Kurve automatisch so ausgeglichen wird, daß ein Planum ausgebaggert werden kann. Die Greiferkante kann während des Schließens des Greifers dadurch auf einem vorgegebenen Niveau gehalten werden, daß die Haltewinde aufgrund einer aus der Greifergeometrie errechneten Kurve dem an der Schließwinde gemessenen Weg nachgefahren wird. Die Steuerung ist besonders bedienerfreundlich, wenn der Greifer nach Erreichen des eingegebenen unteren Niveaus durch Aktivierung dieser Greiferschließhubsteuerung geschlossen wird.The method can be further developed in that the open After reaching the predetermined level, the gripper is controlled in its closing movement in such a way that the gripper edge always remains at the same level. By means of such a gripper closing stroke control, when the gripper closes, the hoist winch automatically follows so that the gripper edge is always at the same level. This means that the area worked by the gripper is as flat as possible, since the curve described by the gripper when it closes is automatically compensated in such a way that a subgrade can be dredged. The gripper edge can be kept at a predetermined level during the closing of the gripper in that the holding winch is followed the path measured on the closing winch on the basis of a curve calculated from the gripper geometry. The control is particularly user-friendly if the gripper is closed by activating this gripper closing stroke control after reaching the entered lower level.
Weitere Einzelheiten und Vorteile werden anhand eines bevorzugten Ausführungsbeispiels der erfindungsgemäßen Greifersteuerung beschrieben, zu deren Erläuterung die beigefügten Figuren dienen. Es zeigen:
- Fig. 1:
- ein Diagramm mit einer Korrekturtabelle zur genauen Ermittlung der Hakenhöhenmessung und
- Fig. 2:
- eine diagrammartig dargestellte Greiferschließkurve.
- Fig. 1:
- a diagram with a correction table for exact determination of the hook height measurement and
- Fig. 2:
- a diagrammatically illustrated gripper closing curve.
Das erfindungsgemäße Verfahren kann in einem Hydroseilbagger bekannter Bauart zur Anwendung kommen. Ein derartiger Hydroseilbagger weist einen Oberwagen und einen schwenkbar an diesem angelenkten Ausleger auf. Der Greifer ist dabei in bekannter Weise an Seilen aufgehängt, die über eine Haltewinde bzw. eine Schließwinde ausgefahren bzw. eingefahren werden. Eine detaillierte Beschreibung des Hydroseilbaggeraufbaus erübrigt sich, da dessen Aufbau dem Fachmann bekannt ist. Die automatische Steuerung erfolgt über einen an sich bekannten Steuerungsrechner. Bei der automatischen Ermittlung der Hubhöhe wird zunächst über einen incrementalen Rotationsimpulsgeber die Seillänge an den Windentrommeln genau bestimmt. Die Seillänge wird zur genauen Bestimmung der Hubhöhe des Greifers mittels des errechneten Geometriewertes korrigiert. Dabei werden von dem Rechner bei der Berechnung der Hubhöhe folgende Faktoren berücksichtigt: die Auslegerlänge, die Auslegerstellung, die durch die Winkelmessung am Auslegeranlenkpunkt ermittelt wird, die Rollenabwicklung, d.h. die Differenz zwischen Windenumfang und Umfang der Auslegerrolle, der Versatz vom Windenmittelpunkt zum Auslegeranlenkpunkt und die Oberwagenneigung zum Normalniveau. Aus diesen Werten wird der Geometriewert errechnet, um welchen der Steuerungsrechner die gemessene Seillänge zu korrigieren hat, um unabhängig von der Auslegerstellung und der Oberwagenneigung die Hakenhöhe zu ermitteln. Zusätzlich kann der Geometriewert durch einen weiteren Korrekturwert, der durch Versuche ermittelt wird, korrigiert werden. Dieser Korrekturwert berücksichtigt dann alle Einflüsse, die durch Fertigungstoleranzen oder durch Festigkeitseinflüsse, wie z.B. Auslegerdurchbiegung, auftreten.The method according to the invention can be used in a hydraulic cable excavator of a known type. Such a hydraulic cable excavator has an uppercarriage and a boom which is pivotably connected to it. The gripper is suspended in a known manner on ropes that have a holding winch or a closing winch extended or retracted. A detailed description of the hydraulic power shovel construction is unnecessary, since its construction is known to the person skilled in the art. The automatic control takes place via a control computer known per se. When the lifting height is automatically determined, the rope length on the winch drums is first precisely determined using an incremental rotary pulse generator. The rope length is corrected for the exact determination of the lifting height of the gripper using the calculated geometry value. The computer takes the following factors into account when calculating the lifting height: the boom length, the boom position, which is determined by the angle measurement at the boom pivot point, the roll handling, i.e. the difference between the winch circumference and the circumference of the boom roll, the offset from the winch center to the boom pivot point and the Upper carriage inclination to normal level. From these values, the geometry value is calculated by which the control computer has to correct the measured rope length in order to determine the hook height independently of the position of the jib and the inclination of the superstructure. In addition, the geometry value can be corrected by a further correction value, which is determined by tests. This correction value then takes into account all influences that arise due to manufacturing tolerances or due to strength influences, such as, for example, deflection of the boom.
In Fig. 1 ist beispielhaft eine entsprechende Korrekturtabelle wiedergegeben. Auf der Ordinate ist der Korrekturwert in mm angegeben, während die Abszisse den Auslegerwinkel in Grad von 0° bis 90° wiedergibt. Diese entsprechenden Korrekturwerte werden von dem Steuerungsrechner ermittelt und bei der Ermittlung der Hakenhöhe berücksichtigt.A corresponding correction table is shown by way of example in FIG. 1. The correction value is given in mm on the ordinate, while the abscissa shows the cantilever angle in degrees from 0 ° to 90 °. These corresponding correction values are determined by the control computer and taken into account when determining the hook height.
Das Absenken des Greifers unter das vorgegebene Niveau wird durch eine entsprechende Endschaltersteuerung verhindert. Hierzu wird ein Bezugspunkt, auf den sich alle Messungen beziehen sollen, und ein unterer Endschalterwert in die Steuerung eingegeben. Die Rechnersteuerung gleicht nunmehr die korrigierten Hakenhöhenwerte mit dem Endschalterwert beim Absenken des Greifers ab. Dabei bremst die Baggersteuerung die Absenkbewegung der Winden ca. 1 m vor Erreichen des unteren Endschalterwerts ab, so daß die Winden durch Zuschaltung eines Kriechganges zu einer gleichmäßigen Abbremsung des Greifers führen. Nach Erreichen des Endschalterwertes wird die Absenkbewegung gestoppt. Bei Erreichen des unteren Niveaus ist der Greifer geöffnet. Beim Schließen des Greifers wird die Hubwinde automatisch mittels einer Greiferschließhubsteuerung so nachgefahren, daß sich die Greiferkante immer auf demselben Niveau befindet. Dadurch kann der Greifer eine ebene Fläche ausheben. Die Haltewinde wird dabei aufgrund einer aus der Greifergeometrie berechneten Kurve dem an der Schließwinde gemessenen Weg nachgefahren. Ein Beispiel für eine derartige Greiferschließkurve ergibt sich aus Fig. 2, wo auf der Ordinate der Hub der Haltewinde und auf der Abszisse der entsprechende Hub der Schließwinde für ein Beispiel wiedergegeben ist.A corresponding limit switch control prevents the gripper from being lowered below the specified level. For this a reference point, to which all measurements should refer, and a lower limit switch value are entered into the control. The computer control now compares the corrected hook height values with the limit switch value when the gripper is lowered. The excavator control system brakes the lowering movement of the winches approx. 1 m before the lower limit switch value is reached, so that the winches lead to an even braking of the gripper by engaging a creeper. After reaching the limit switch value, the lowering movement is stopped. The gripper is opened when the lower level is reached. When the gripper closes, the hoist winch is automatically retraced using a gripper closing stroke control so that the gripper edge is always at the same level. This enables the gripper to lift a flat surface. The holding winch is followed on the basis of a curve calculated from the gripper geometry, the path measured on the closing winch. An example of such a gripper closing curve is shown in FIG. 2, where the stroke of the holding winch is shown on the ordinate and the corresponding stroke of the closing winch is shown for an example on the abscissa.
Mit diesem Verfahren zur Steuerung des Greifers eines Seilbaggers kann die Toleranz für den Aushub sehr genau eingehalten werden, wobei gleichzeitig die Bedienung des Seilbaggers wesentlich erleichtert ist.With this method for controlling the grab of a duty cycle crawler crane, the tolerance for the excavation can be adhered to very precisely, while the operation of the duty cycle crawler crane is made considerably easier.
Claims (6)
- Method of controlling the grab bucket of a cable-operated excavator having an extension arm which is articulated pivotably on a revolving superstructure, characterized in that the cable length on the winch drum is measured; in that taking into account the extension-arm length, the difference between the winch-drum circumference and the circumference of the extension-arm reel, the length of offset between the winch centre point and the point of articulation of the extension arm, the inclination of the revolving superstructure with respect to the normal level, and the extension-arm angle which is determined by an angle measurement at the point of articulation of the extension arm, a correction value is determined; and in that the measured cable length is corrected by this correction value in order to determine the effective hook height.
- Method according to Claim 1, characterized in that the cable length on the winch drum is determined by means of an incremental rotational pulse generator.
- Method according to Claim 1 or Claim 2, characterized in that an entry is additionally made, with respect to a predetermined level, of a limit-switch value, the continuously measured cable length being compared with said value and the lowering movement of the grab bucket being stopped once said value has been reached.
- Method according to Claim 3, characterized in that, at a predetermined distance from the limit-switch value, the lowering movement of the grab bucket is braked to a lower lowering speed.
- Method according to one of Claims 1-4, characterized in that, after reaching the predetermined level, the open grab bucket is controlled throughout its closure movement such that the grab-bucket edge always remains at the same level.
- Method according to Claim 5, characterized in that, during the closure of the grab bucket, the grab-bucket edge is held at a predetermined level in that, due to a curve calculated from the geometry of the grab bucket, the holding winch is made to follow the path measured on the closing winch.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4222166 | 1992-07-06 | ||
| DE4222166 | 1992-07-06 | ||
| DE4228392 | 1992-08-26 | ||
| DE4228392A DE4228392A1 (en) | 1992-07-06 | 1992-08-26 | Method for controlling the grab of a duty cycle crawler crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0577930A1 EP0577930A1 (en) | 1994-01-12 |
| EP0577930B1 true EP0577930B1 (en) | 1997-07-09 |
Family
ID=25916342
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP93105446A Expired - Lifetime EP0577930B1 (en) | 1992-07-06 | 1993-04-01 | Method for controlling a grab-bucket |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP0577930B1 (en) |
| AT (1) | ATE155188T1 (en) |
| DE (2) | DE4228392A1 (en) |
| ES (1) | ES2103396T3 (en) |
| HK (1) | HK1000130A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114150725B (en) * | 2021-11-08 | 2023-09-19 | 中交疏浚技术装备国家工程研究中心有限公司 | Fine digging control system of grab dredger |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2212283B1 (en) * | 1972-12-28 | 1976-08-27 | Entr Metalliques Cie Fse | |
| US3934126A (en) * | 1973-12-28 | 1976-01-20 | Oleg Alexandrovich Zalesov | Control device for a dragline excavator |
| DE3230213A1 (en) * | 1982-08-13 | 1984-02-23 | Bayerische Bühnenbau GmbH, 8480 Weiden | MEASURING AND CONTROL DEVICE FOR LOADS ATTACHED TO ROPES, ESPECIALLY FOR THEATER POINTS |
| DE69025477T2 (en) * | 1990-06-15 | 1996-07-18 | Kato Seisakusho Kk | VISIBILITY DISPLAY DEVICE AND DETERMINATION METHOD FOR THE HEIGHT OF A CRANE HOOK |
-
1992
- 1992-08-26 DE DE4228392A patent/DE4228392A1/en not_active Withdrawn
-
1993
- 1993-04-01 EP EP93105446A patent/EP0577930B1/en not_active Expired - Lifetime
- 1993-04-01 ES ES93105446T patent/ES2103396T3/en not_active Expired - Lifetime
- 1993-04-01 AT AT93105446T patent/ATE155188T1/en not_active IP Right Cessation
- 1993-04-01 DE DE59306862T patent/DE59306862D1/en not_active Expired - Fee Related
-
1997
- 1997-08-06 HK HK97101642A patent/HK1000130A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| DE4228392A1 (en) | 1994-01-13 |
| HK1000130A1 (en) | 1997-12-12 |
| EP0577930A1 (en) | 1994-01-12 |
| ATE155188T1 (en) | 1997-07-15 |
| DE59306862D1 (en) | 1997-08-14 |
| ES2103396T3 (en) | 1997-09-16 |
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