EP0632789B1 - Grue hydraulique a charge admissible maximale accrue dans la zone de positions elevees, et procede associe - Google Patents

Grue hydraulique a charge admissible maximale accrue dans la zone de positions elevees, et procede associe Download PDF

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Publication number
EP0632789B1
EP0632789B1 EP93908203A EP93908203A EP0632789B1 EP 0632789 B1 EP0632789 B1 EP 0632789B1 EP 93908203 A EP93908203 A EP 93908203A EP 93908203 A EP93908203 A EP 93908203A EP 0632789 B1 EP0632789 B1 EP 0632789B1
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EP
European Patent Office
Prior art keywords
crane
load
boom section
maximum permissible
valve
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
EP93908203A
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German (de)
English (en)
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EP0632789A1 (fr
Inventor
Lars Andersson
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.)
Hiab AB
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Hiab AB
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Publication date
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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

Definitions

  • the present invention relates to a method for increasing the maximum lifting power of a hydraulic crane in the high-position range, i.e. when the first boom section is located above the horizontal plane, the position of the first boom section being detected and the load being sensed.
  • the invention also concerns a hydraulic crane with increased maximum lifting power in the high-position range.
  • hydraulic cranes have lower maximum lifting power in the high-position range than in other working range positions.
  • the leverage is in fact shortened between, on the one hand, the point of articulation between the crane body and the first boom section and, on the other hand, the fixing point in the first boom section for the piston rod of the piston and cylinder unit operating the first boom section. This reduces the moment of force that the piston and cylinder unit is able to produce at a given pressure in the cylinder, which in turn reduces the maximum lifting power of the crane.
  • a prior-art device for obviating the inconvenience of a shortened leverage consists of a link mechanism.
  • This mechanism has a first link which is mounted between, on the one hand, the point of articulation between the crane body and the first boom section and, on the other hand, the end of the piston rod in the lifting cylinder, as well as a second link mounted between the end of the piston rod and the first boom section.
  • the link mechanism suffers from the disadvantage of adding to the weight of the crane, which is contrary to the general aim in the art of providing cranes which are as light as possible in relation to their lifting power so as to impart maximum net loading capacity to e.g. a crane-equipped vehicle.
  • Another disadvantage of the link mechanism is that it involves the risk of fall through when the length of the leverage changes rapidly, i.e. a risk that the pressure-limiting valve of the hydraulic system opens and the load falls to the ground.
  • EP 0,349,359 discloses a safety device for restricting the moment of force acting on the body of a hydraulic crane.
  • the moment is given by the pressure in the lifting cylinder of the crane and the leverage between, on the one hand, the point of articulation between the crane body and the first boom section and, on the other hand, the fixing point in the leverage for the piston rod of the piston and cylinder unit operating the first boom section.
  • This device comprises angle sensors for determining the length of the leverage, as well as a computing unit determining the moment acting on the crane body. If the moment becomes too high, the computing unit emits a signal to the hydraulic system to limit the flow from the pump to the lifting cylinder, so that only very small movements can be executed.
  • the same maximum moment on the crane body is permitted in the whole working range of the crane, i.e. also in the high-position range, there has to be a higher maximum pressure in the lifting cylinder in the high-position range than in the remainder of the working range of the crane.
  • the crane has to be dimensioned according to the maximum permissible pressure in the high-position range, which in turn means that the crane will become more expensive as well as heavier than those cranes where there is a constant maximum pressure in the lifting cylinder for the whole working range.
  • cranes are dimensioned to withstand slightly more than the load to which they are subjected in operation at maximum permissible pressure in the lifting cylinder and maximum speed in the normal working range.
  • the hydraulic system of the crane normally comprises a relief valve which opens at a predetermined pressure, normally slightly above the permissible pressure in the lifting cylinder.
  • a relief valve which opens at a predetermined pressure, normally slightly above the permissible pressure in the lifting cylinder.
  • Such setting of the valve reduces the maximum lifting power in the high-position range, since the leverage is shortened and the valve limits the maximum pressure in the lifting cylinder. If, on the other hand, the valve is set so as to open at a higher pressure, the maximum lifting power in the high-position range is improved, but the crane then has to be dimensioned to withstand the increased load caused by the higher pressure.
  • SE 396,208 tried to solve this problem by varying the opening pressure of the relief valve as a function of the angle of the first boom section to the horizontal plane, so that a higher pressure is permitted when the angle to the horizontal plane increases.
  • this entails the serious consequence that if the valve opens with the first boom section in a high working position, the closing pressure drops all the time as the first boom section is lowered, while the pressure in the cylinder rises owing to an increased outreach. This goes on in an uncontrolled fashion until the load reaches the ground or the crane tips over.
  • the object of the present invention is to obviate the above disadvantages and provide a crane with increased maximum lifting power in the high-position range and safe load-carrying performance without any problems of stability and without any need to dimension the crane for higher loads than warranted by the maximum permissible load in the working range outside the high-position range.
  • the maximum lifting power of a hydraulic crane can be increased in the high-position range. This is achieved by disconnecting the relief valve when detecting that the crane is within the high-position range and the load on the crane exceeds a predetermined load. This guarantees safe holding of the load. In order to avoid overload of the crane when the relief valve is disconnected, the maximum permissible speed is reduced, so that the dynamic additional forces become insignificant enough to be absorbed by the flexibility of the crane structure.
  • the outlet flow from the relief valve may, for instance, be separate from the regular flow for operating the crane, so that it makes no difference whether the outlet flow is shut off.
  • the relief valve may be arranged to open as soon as hydraulic fluid is supplied to the first boom section for operation thereof.
  • the load-sensing means is an analog pressure sensor adapted to measure the pressure on the lifting side of the piston and cylinder unit.
  • load-sensing means which continuously measure the load on the crane can be used, such as strain gauges.
  • the position-detecting means may be a sensor determining the angle between the crane body and the first boom section, a sensor sensing the position of the piston rod in the piston and cylinder unit, or any other suitable sensor indicating the position of the first boom section.
  • the position-detecting means might also consist of several position switches.
  • Fig. 1 shows a crane comprising a body 1, a first boom section 2 articulated thereto, an outer boom 3 articulated to the first boom section 2, and an extension boom 4 fixed to the outer boom 3.
  • the first boom section is operated by means of a hydraulic lifting cylinder 5
  • the outer boom 3 is operated by means of a hydraulic outer boom cylinder 6
  • the extension boom 4 is operated by means of a hydraulic extension boom cylinder 7.
  • the cylinders 5-7 are operated by means of hydraulic fluid which, in conventional manner, is supplied from a tank 9 by a pump 10 to a directional-control-valve block 12 which controls the size and the direction of the flow of hydraulic fluid to each cylinder as a function of the position of a lever 13 for operating each cylinder.
  • the directional-control-valve block comprises a shunt valve 14 pumping excessive hydraulic fluid back to the tank 9, an electrically-controlled dump valve 15 which can be caused to return the entire hydraulic flow from the pump directly to the tank 9, as well as a directional-control-valve unit 16 for each cylinder 5-7.
  • a directional-control-valve unit 16 for each cylinder 5-7 For the sake of clarity, only the directional-control-valve unit 16 for the lifting cylinder 5 is shown in Fig. 1.
  • the directional-control-valve block 12 is of load-sensing and pressure-compensating type, which means that the size of the hydraulic flow supplied to a cylinder is at all times proportional to the position of the slide member in the corresponding directional-control-valve unit, i.e. proportional to the position of the lever 13.
  • the directional-control-valve unit 16 comprises a pressure-limiting device 17, a pressure-compensating device 18 and the directional-control-valve 19 proper.
  • Directional-control-valve blocks as well as directional-control-valve units of this type are well-known and available on the market.
  • One instance of such a directional-control-valve unit is HIAB 91 marketed by HIAB AB, Hudiksvall, Sweden.
  • a load-holding valve 20 is arranged between the lifting cylinder 5 and the directional-control-valve unit 16.
  • the load-holding valve shown is of the type LHV 91 available from Olsbergs Hydraulic AB, Eksjö, Sweden.
  • this valve comprises a relief valve 21 having a separate drain conduit 20 to the tank.
  • the load-holding valve 21 has a pressure-reducing device 23 so arranged that the pressure on the side of the load-holding valve facing the directional-control-valve block 12 is always constant, regardless of the pressure in the lifting cylinder 5.
  • the lowering speed is directly proportional to the position of the slide member in the directional control valve.
  • An inventive crane with increased maximum lifting power in the high-position range comprises position-detecting means in the form of a sensor 8 which is arranged close to the piston rod of the lifting cylinder 5 and which continuously senses the position thereof. Further, the crane has a load-sensing means in the form of a pressure sensor 25 adapted to measure the pressure on the lifting side of the lifting cylinder 5.
  • the position sensor 8 and the pressure sensor 25 are each connected to an input of a computing-control unit 26, suitably a microprocessor.
  • this memory is a read-write memory, so that the stored values may easily be changed, if desired.
  • the crane has an electrically-controlled valve 24 which is arranged in the drain conduit 22 from the relief valve 21 and which serves to shut off the drain conduit, and consequently disconnect the relief valve 21.
  • the function of the valve 24 is controlled by the microprocessor 26.
  • the crane operator controls the first boom section 2 by moving the slide member in the corresponding directional control valve 19 by hand with the aid of a hand lever 13 or by a remote control unit (not shown), thereby generating an electric control signal for positioning the slide member.
  • the pump 10 pumps hydraulic fluid to the directional-control-valve block 12, which in turn feeds the lifting cylinder 5 depending on the position of the slide member in the directional control valve 19.
  • the microprocessor 26 continuously reads the output signals from the pressure sensor 25 and the position sensor 8, and compares the output signal from the pressure sensor 25 with the values of the maximum permissible pressure in the lifting cylinder 5 which are stored in the memory and correspond to the position detected by the position sensor 5.
  • a first limit value here set at 25 MPa, i.e. being within the obliquely-hatched area 30 in Fig. 2, operation of all the crane functions at full speed is permitted.
  • This first limit value is constant, regardless of the angle of the first boom section. Dynamic forces arising when a movement begins or ends are taken up by the relief valve 21, which opens at the predetermined pressure level indicated by the dashed line in Fig. 2, here at about 29 MPa.
  • the maximum permissible speed for the crane functions is reduced to a predetermined level, e.g. to about 20% of the speed permitted in the area 30. This level may differ for the various crane functions and is stored in the memory. Should the crane operator try to perform a movement at a higher speed than the maximum permissible speed, the microprocessor 26 emits a signal to the dump valve 15, which then dumps all hydraulic fluid to the tank, so that all motions cease.
  • a predetermined level e.g. to about 20% of the speed permitted in the area 30. This level may differ for the various crane functions and is stored in the memory.
  • the dynamic forces become small enough to be dampened out by the elastic structure of the crane and the hydraulic system as well as by a very small opening degree of the relief valve 21.
  • the system still guarantees safe load holding.
  • the second limit value of 28 MPa is constant, regardless of the angle of the first boom section to the horizontal plane.
  • the maximum permissible working pressure in the lifting cylinder 5 is a function of the angle of the first boom section, as illustrated in Fig. 2 by the dash-dot line.
  • the microprocessor 26 senses that the pressure exceeds 28 MPa and the crane is located within the high-position range, it emits a signal to the valve 24, which shuts off the drain conduit 22 of the relief valve 21 to the tank.
  • the relief valve is, of course, only to be closed when the microprocessor has established that the pressure permanently exceeds 28 MPa. This can be done by determining e.g. the mean value or the derivative of the pressure sensed.
  • the maximum permissible speed for the crane functions is further reduced, e.g. to 12% of the speed permitted in the area 30, so that the dynamic forces occurring become so small as to be absorbed by the flexibility of the structure. If the pressure sensed by the pressure sensor 25 exceeds the maximum permissible pressure for a given angle of the first boom section, the microprocessor 26 emits a signal to the dump valve 25, which dumps the flow to the tank.
  • the relief valve 21 is again connected by opening the valve 24. At the same time, a higher speed is again permitted.
  • the value at which the relief valve is connected should be lower than the value at which it is disconnected to ensure stable operation. In the example described here, it may be 26.5 MPa.
  • the maximum permissible speed in the areas 31 and 32 is restricted in different ways, depending on whether the crane is operated by the hand lever or by a remote control unit.
  • position sensors 40 are conveniently arranged on the slide members in the different directional control valves. If the microprocessor 26 detects that the crane operator performs a slide-member displacement corresponding to an impermissible speed, it emits a signal to the dump valve 15, which dumps the entire hydraulic flow to the tank. In the latter case, the size of the electric signal to the directional control valve is sensed, and is automatically reduced if the microprocessor detects that it corresponds to an impermissible speed.
  • An alternative to the illustrated load-holding valve with a separate drain conduit from the relief valve to the tank is a load-holding valve controlled by a pilot pressure from the piston side of the cylinder.
  • the load-holding valve then comprises a relief valve which is arranged in the hydraulic conduit between the lifting side of the piston and cylinder unit and the directional control valve and which has no separate drain conduit, as well as a valve serving to disconnect the relief valve.
  • the valve is opened as soon as the operator moves the hand lever or the lever on the remote control unit. In actual practice, this can be done by sensing the displacement of the slide member in the directional control valve by means of slide-member-position sensors 40. The signal from these sensors is then used for controlling the opening of the valve.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (12)

  1. Grue hydraulique possédant une capacité de levage maximale accrue dans la gamme des positions élevées, ladite grue comprenant des moyens de détection de position (8) pour détecter la position de la première section de flèche (2) de la grue et des moyens de détection de charge (25) pour détecter la charge appliquée à la grue, caractérisée par une soupape de surpression (21), dont le fonctionnement peut être interrompu lorsque les moyens de détection de position (8) détectent le fait que la première section de flèche (2) se situe à l'intérieur de la gamme de positions élevées et que la charge appliquée à la grue, détectée par les moyens de détection de charge (25), dépasse une première valeur prédéterminée, et des moyens pour limiter la vitesse maximale admissible pour faire fonctionner la première section de flèche (2) lorsque la charge appliquée à la grue, détectée par les moyens de détection de charge (25), dépasse une seconde valeur prédéterminée.
  2. Grue selon la revendication 1, caractérisée par des moyens (24) pour interrompre le fonctionnement de la soupape de surpression.
  3. Grue selon la revendication 2, caractérisée en ce que la soupape de surpression (21) possède un conduit de purge séparé (22) aboutissant au réservoir et que lesdits moyens (24) d'interruption du fonctionnement de la soupape de surpression comprennent une soupape (24) disposée dans le conduit de purge (22).
  4. Grue selon la revendication 2, caractérisée en ce que la soupape de surpression (21) est disposée dans une canalisation servant à faire circuler un fluide hydraulique en direction et en provenance de la première section de flèche (2) et est adaptée pour s'ouvrir dès que la première section de flèche est actionnée.
  5. Grue selon l'une quelconque des revendications 1-4, caractérisée en ce que les moyens de détection de charge (25) sont constitués par un capteur de pression analogique adapté pour mesurer la pression sur le côté refoulement de l'unité à piston et cylindre (5).
  6. Grue selon l'une quelconque des revendications 2-5, caractérisée en ce qu'elle comprend une soupape de commande directionnelle (16) compensée en pression et détectant la charge pour l'envoi d'un fluide hydraulique à l'unité à piston et cylindre, lesdits moyens de limitation de vitesse comprenant des transducteurs (40) servant à déterminer le degré d'ouverture de la soupape de commande directionnelle (16), une mémoire pour mémoriser la vitesse maximale admissible pour faire fonctionner la grue de levage en fonction de la charge et de la charge maximale admissible, et une soupape de décharge (15) pour empêcher l'envoi du fluide hydraulique à la soupape de commande directionnelle lorsque la charge détectée dépasse la charge maximale admissible.
  7. Grue selon l'une quelconque des revendications 2-5, caractérisée en ce que les moyens de limitation de vitesse comprennent des moyens pour limiter l'amplitude du signal de commande envoyée à la soupape de commande directionnelle (16) pour commander l'écoulement du fluide hydraulique en direction de la première section de flèche (2).
  8. Grue selon l'une quelconque des revendications précédentes, caractérisée par une mémoire pour mémoriser la charge maximale admissible appliquée à la grue en fonction de la position de la première section de flèche, un comparateur pour comparer la charge détectée par les moyens de détection de charge (8) et la charge maximale admissible, et une soupape de décharge (15) pour empêcher l'envoi du fluide hydraulique à la première section de flèche lorsque la charge détectée dépasse la charge maximale admissible.
  9. Procédé pour accroítre la capacité de levage maximale d'une grue lorsque la première section de flèche de la grue est située dans la gamme des positions élevées, selon lequel la position de la première section de flèche est détectée et la charge appliquée à la grue est détectée, caractérisé en ce qu'il consiste à purger le fluide hydraulique à partir du côté de levage de l'unité à cylindre et piston, alors que la première section de flèche est située à l'extérieur de la gamme des positions élevées, lorsque la charge appliquée à la grue dépasse une première valeur prédéterminée; lorsque la grue est située dans la gamme des positions élevées et que la charge appliquée à la grue dépasse une seconde valeur prédéterminée, réduire la vitesse maximale admissible pour l'actionnement de la première section de flèche à une valeur qui est inférieure à celle autorisée lorsque la charge est inférieure à la seconde valeur prédéterminée; et permettre qu'une charge appliquée à la grue dépasse une troisième valeur prédéterminée sans purge du fluide hydraulique à partir du côté de levage de l'unité à piston et cylindre.
  10. Procédé selon la revendication 9, caractérisé par la modification de la charge maximale admissible dans la gamme des positions élevées en fonction de l'angle de la première section de flèche par rapport au plan horizontal.
  11. Procédé selon la revendication 9 ou 10, caractérisé par la détection de la vitesse pour l'actionnement de la première section de flèche, demandée par un opérateur faisant fonctionner la grue; la comparaison de cette vitesse à la vitesse maximale admissible dans la position actuelle de la première section de flèche; et si la vitesse demandée dépasse la vitesse maximale admissible, l'arrêt de la première section de flèche ou la limitation de sa vitesse d'actionnement.
  12. Procédé selon la revendication 9, 10 ou 11, caractérisé par la comparaison de la charge détectée appliquée à la grue à une charge maximale admissible appliquée à la grue dans la position actuelle de la première section de flèche; et si la charge détectée dépasse la charge maximale admissible, l'arrêt de la grue.
EP93908203A 1992-03-23 1993-02-26 Grue hydraulique a charge admissible maximale accrue dans la zone de positions elevees, et procede associe Expired - Lifetime EP0632789B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE9200878 1992-03-23
SE9200878A SE9200878L (sv) 1992-03-23 1992-03-23 Hydraulisk kran med oekad maximal lyftkraft i hoeglaegesomraadet och saett att aastadkomma detta
PCT/SE1993/000162 WO1993019000A1 (fr) 1992-03-23 1993-02-26 Grue hydraulique a charge admissible maximale accrue dans la zone de positions elevees, et procede associe

Publications (2)

Publication Number Publication Date
EP0632789A1 EP0632789A1 (fr) 1995-01-11
EP0632789B1 true EP0632789B1 (fr) 1999-12-22

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EP93908203A Expired - Lifetime EP0632789B1 (fr) 1992-03-23 1993-02-26 Grue hydraulique a charge admissible maximale accrue dans la zone de positions elevees, et procede associe

Country Status (6)

Country Link
EP (1) EP0632789B1 (fr)
AT (1) ATE187951T1 (fr)
DE (1) DE69327393T2 (fr)
ES (1) ES2141152T3 (fr)
SE (1) SE9200878L (fr)
WO (1) WO1993019000A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7818967B2 (en) 2006-03-31 2010-10-26 Loglift Jonsered Oy Ab Method for controlling a crane actuator

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE520536C2 (sv) * 2000-04-28 2003-07-22 Hiab Ab Hydraulisk kran samt förfarande för reglering av den maximalt tillåtna lyftkraften hos en hydraulisk kran
SE530761C2 (sv) * 2005-12-14 2008-09-09 Cargotec Patenter Ab Hydraulisk kran med registrering av lyftning och/eller nedsättning av last, förfarande för sådan registrering samt förfarande för beräkning av utmattningsbelastningen hos en hydraulisk kran
DE102012010760A1 (de) 2012-05-31 2013-12-05 Wolffkran Holding Ag Elektrohydraulische Vorrichtung mit Drehstromasynchronmotor zur Verstellung eines Ausleger

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2036518B2 (de) * 1970-07-23 1974-06-27 Pietzsch, Ludwig, Dr.-Ing., 7500 Karlsruhe Überlastsicherung für Auslegerkrane
AT309735B (de) * 1971-07-22 1973-08-27 Palfinger Hydraulik Kg Einrichtung an Ladekränen
FR2633268B3 (fr) * 1988-06-27 1991-05-31 Roux Ind Sa Systeme limiteur de couple ou de moment pour engins de levage

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7818967B2 (en) 2006-03-31 2010-10-26 Loglift Jonsered Oy Ab Method for controlling a crane actuator

Also Published As

Publication number Publication date
DE69327393D1 (de) 2000-01-27
SE469425B (sv) 1993-07-05
SE9200878D0 (sv) 1992-03-23
ES2141152T3 (es) 2000-03-16
EP0632789A1 (fr) 1995-01-11
ATE187951T1 (de) 2000-01-15
DE69327393T2 (de) 2000-05-18
SE9200878L (sv) 1993-07-05
WO1993019000A1 (fr) 1993-09-30

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