EP0577930B1 - Procédé pour la commande d'une benne prenneuse - Google Patents

Procédé pour la commande d'une benne prenneuse Download PDF

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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
Application number
EP93105446A
Other languages
German (de)
English (en)
Other versions
EP0577930A1 (fr
Inventor
Roman Pfister
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.)
Liebherr Werk Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing GmbH
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Filing date
Publication date
Application filed by Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Publication of EP0577930A1 publication Critical patent/EP0577930A1/fr
Application granted granted Critical
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Anticipated expiration legal-status Critical
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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.

Landscapes

  • 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)
  • Load-Engaging Elements For Cranes (AREA)
  • Earth Drilling (AREA)
  • Operation Control Of Excavators (AREA)

Claims (6)

  1. Procédé pour la commande d'une benne preneuse d'une dragline avec une flèche articulée de façon pivotante à un châssis tournant, caractérisé en ce que l'on mesure la longueur de câble au tambour, en ce qu'on définit une valeur de correction en tenant compte de la longueur de la flèche, de la différence entre le pourtour du tambour et le pourtour du rouleau de flèche, de la longueur de décalage du centre du tambour au point d'articulation de la flèche, de l'inclinaison du châssis tournant relativement au niveau normal et de l'angle de flèche qui est déterminé par une mesure d'angle au point d'articulation de la flèche, et en ce que la longueur de câble mesurée est corrigée par cette valeur de correction pour déterminer la hauteur effective du crochet.
  2. Procédé selon la revendication 1, caractérisé en ce que la longueur du câble au tambour est déterminée au moyen d'un générateur d'impulsions de rotation incrémentiel.
  3. Procédé selon la revendication 1 ou la revendication 2, caractérisé en ce que, en plus relativement à un niveau prédéfini, on introduit une valeur de commutateur final, à laquelle sera comparée la longueur de câble mesurée d'une façon continue et lors de l'atteinte de laquelle le mouvement d'abaissement de la benne preneuse sera arrêté.
  4. Procédé selon la revendication 3, caractérisé en ce que, à une distance prédéfinie relativement à la valeur de commutateur final, le mouvement d'abaissement de la benne preneuse sera freiné à une vitesse d'abaissement plus lente.
  5. Procédé selon l'une des revendications 1-4, caractérisé en ce que la benne preneuse ouverte, après avoir atteint le niveau prédéfini, sera commandée pour son mouvement de fermeture de façon que l'arête de la benne reste toujours au même niveau.
  6. Procédé selon la revendication 5, caractérisé en ce que l'arête de la benne pendant la fermeture de la benne est maintenue à un niveau prédéfini par le fait que le treuil de suspension, sur la base d'une courbe calculée à partir de la géométrie de la benne, suivra sur le chemin mesuré au treuil de fermeture.
EP93105446A 1992-07-06 1993-04-01 Procédé pour la commande d'une benne prenneuse Expired - Lifetime EP0577930B1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE4222166 1992-07-06
DE4222166 1992-07-06
DE4228392A DE4228392A1 (de) 1992-07-06 1992-08-26 Verfahren zur Steuerung des Greifers eines Seilbaggers
DE4228392 1992-08-26

Publications (2)

Publication Number Publication Date
EP0577930A1 EP0577930A1 (fr) 1994-01-12
EP0577930B1 true EP0577930B1 (fr) 1997-07-09

Family

ID=25916342

Family Applications (1)

Application Number Title Priority Date Filing Date
EP93105446A Expired - Lifetime EP0577930B1 (fr) 1992-07-06 1993-04-01 Procédé pour la commande d'une benne prenneuse

Country Status (5)

Country Link
EP (1) EP0577930B1 (fr)
AT (1) ATE155188T1 (fr)
DE (2) DE4228392A1 (fr)
ES (1) ES2103396T3 (fr)
HK (1) HK1000130A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114150725B (zh) * 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 一种抓斗挖泥船精挖控制系统

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2212283B1 (fr) * 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 (de) * 1982-08-13 1984-02-23 Bayerische Bühnenbau GmbH, 8480 Weiden Mess- und steuereinrichtung fuer an seilen befestigte lasten, insbesondere fuer theaterpunktzuege
EP0487725B1 (fr) * 1990-06-15 1996-02-21 Kato Works Co., Ltd. Appareil d'affichage de l'elevation du crochet d'une grue et methode de determination

Also Published As

Publication number Publication date
HK1000130A1 (en) 1997-12-12
DE59306862D1 (de) 1997-08-14
ATE155188T1 (de) 1997-07-15
DE4228392A1 (de) 1994-01-13
ES2103396T3 (es) 1997-09-16
EP0577930A1 (fr) 1994-01-12

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