EP0779239A1 - Commande du système de levage d'une grue - Google Patents

Commande du système de levage d'une grue Download PDF

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Publication number
EP0779239A1
EP0779239A1 EP96118129A EP96118129A EP0779239A1 EP 0779239 A1 EP0779239 A1 EP 0779239A1 EP 96118129 A EP96118129 A EP 96118129A EP 96118129 A EP96118129 A EP 96118129A EP 0779239 A1 EP0779239 A1 EP 0779239A1
Authority
EP
European Patent Office
Prior art keywords
pressure
control device
hydraulic
hoist
drum
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP96118129A
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German (de)
English (en)
Other versions
EP0779239B2 (fr
EP0779239B1 (fr
Inventor
Peter Bosler
Erwin Morath
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 Ehingen GmbH
Original Assignee
Liebherr Werk Ehingen GmbH
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Filing date
Publication date
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Priority claimed from DE19604428A external-priority patent/DE19604428C2/de
Application filed by Liebherr Werk Ehingen GmbH filed Critical Liebherr Werk Ehingen GmbH
Publication of EP0779239A1 publication Critical patent/EP0779239A1/fr
Application granted granted Critical
Publication of EP0779239B1 publication Critical patent/EP0779239B1/fr
Publication of EP0779239B2 publication Critical patent/EP0779239B2/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
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/42—Control devices non-automatic
    • B66D1/44—Control devices non-automatic pneumatic of hydraulic

Definitions

  • the invention relates to a control device for a hoist of a crane, preferably for a crane with a variable-length and luffing jib, with a hydraulic motor driving the hoist drum, which is driven by a hydraulic pump, which is driven by a motor, preferably by a diesel engine , forms a closed hydraulic circuit, and with a parking brake for the hoist drum.
  • the hydraulic pump and the hydraulic motor which are located in a closed hydraulic circuit, have a leak that can be, for example, two to twenty l / min.
  • this leakage is not particularly noticeable because the crane operator will always move the control lever in such a way that the load is held or raised or lowered at the desired speed, the crane operator not noticing that with the appropriate control, the unavoidable is always present Leakage is taken into account.
  • the jerk-free inclusion of holding, lifting or lowering the load after releasing the parking brake would only be possible if the holding torque applied by the hydraulic motor after releasing the parking brake corresponds exactly to the moment of the hoist drum.
  • the parking brake becomes temporary while the load is floating actuated, due to the inevitable leakage after releasing the parking brake, the pressure in the high-pressure line of the hydraulic circuit no longer corresponds exactly to the pressure with which the hydraulic motor held the floating load before the parking brake was applied, so that the parking brake is opened Because of the current pressure in the high pressure line of the hydraulic circuit, which deviates from the pressure required by the hydraulic motor, a jolt is unavoidable.
  • the object of the invention is to provide a control device of the type specified which, after releasing the parking brake, enables jerk-free holding, lifting or lowering of a suspended load.
  • this object is achieved in a control device of the generic type in that a pressure meter is arranged in the high-pressure line of the hydraulic circuit, the signals of which are fed to a comparison unit, and a device is provided for determining the torque of the hoist drum, the signals of which are fed to the comparison unit, and that the comparison unit, together with a processing unit, adjusts the pressure in the high-pressure line to the torque to be applied by the hydraulic motor, corresponding to the moment of the hoist drum, by correspondingly increasing or decreasing the pump output in such a way that, after the parking brake is opened, jerk-free holding, lifting or lowering the load is possible.
  • the pressure in the high-pressure line of the hydraulic circuit is thus constantly monitored and the signals of the pressure meter arranged in the high-pressure line are compared with the moment of the hoist drum, a processing unit consisting, for example, of a computer being provided which is used before the loosening of the Parking brake the pressure in the high pressure line, which is proportional to the engine torque, the torque of the hoist winch adapts so that after releasing the parking brake the jerk-free start of the lifting operation is possible.
  • the requirement to resume operation with the suspended load after releasing the parking brake arises not only when the parking brake is applied when the load is suspended, but also when the parking brake is engaged, for example, when the load resting on the ground is only rocked by the boom recorded and then the brake is released.
  • the pressure of the hydraulic oil in the luffing cylinder, the luffing angle and the length of the boom are measured in order to determine the moment of the lifting drum.
  • the corresponding measured values are usually available in the central unit of the crane, since they have to be processed for overload protection. From these values, the pressure can then also be determined with sufficient accuracy, which must be set in the high-pressure line of the hydraulic circuit in order to be able to resume jerk-free holding, lifting or lowering operation of the load after the parking brake has been released.
  • the deflection is also taken into account to determine the effective length of the boom.
  • vertical angle meters can be arranged in its lower and outer area. The deflection of the boom can be determined very precisely from the measured luffing angle of the boom and the values of the vertical angle meters, which indicate the angles of the corresponding sections of the boom to the vertical.
  • the deflection of the boom can also be determined from the measured pressure of the hydraulic fluid in the luffing cylinder, the measured luffing angle and the line load of the boom. This may require iterative calculation methods, which can, however, be easily mastered using conventional computers.
  • the hoist drum is provided with a counter or an incremental encoder for determining the current winding position of the hoist rope.
  • the values of the incremental encoder are also continuously input into the processing unit to determine the current winch torque.
  • the hydraulic pump and the hydraulic motor can form a closed hydrostatic drive system.
  • the pump and the motor expediently consist of an axial piston pump and an axial piston motor in a swash axis or swash plate design.
  • the lifting gear drum 1 which is mounted, for example, on the superstructure of a vehicle crane with a telescopic boom, is driven by a controllable hydraulic motor 2, for example an axial piston motor in a swash axis or swash plate design.
  • the output shaft 3 of the hydraulic motor is coupled to the shaft of the hoist drum and carries a brake disc 4 over which the hoist drum 1 can be fixed.
  • the hydraulic motor 2 is connected to the hydraulic pump 5, which may also consist of an axial piston pump in a slanting axis or swashplate design, by hydraulic lines 6, 7, so that the hydraulic motor 2 and the hydraulic pump 5 are closed Form hydraulic circuit.
  • a pressure meter 8 is arranged, the signals of which are constantly fed to the electronic control unit 10 via the signal line 9 and monitored therein.
  • the hydraulic pump is driven by a diesel engine 11.
  • the shaft of the hoist drum 1 is provided with an incremental encoder 12, the signals of which are continuously fed to the central control unit 10 via a signal line 13, so that signals are emitted via a corresponding counter, which signals the respective hoist rope position of the hoist drum from which the hoist rope 14 is currently operating expires, or on which this expires.
  • the hydraulic pump 5 and the hydraulic motor 2 are provided with quantity control levers with which they can be controlled between the highest swallowed quantity and towards zero. The quantity control levers are controlled by control devices 15, 16 by the central control unit 10.
  • the overload control is connected to the central control unit 10 and consists of a unit 20 which receives signals from the sensors which detect the load state via signal lines 21.
  • sensors which detect the load state via signal lines 21.
  • These are, for example, sensors that measure the pressure of the hydraulic oil in the luffing cylinder, the luffing angle and the length of the boom and its deflection. Not only the load state is calculated from the signals generated by the sensors, the moment of the hoist drum can also be determined from these.
  • the parking brake 4 is only released again when the pressure in the high-pressure line 6 has been set via the central control unit 10 to a pressure at which the hydraulic motor 2 generates a torque that corresponds to the holding torque of the hoist drum corresponds to that which results from the current load condition.
  • This current load state is determined in the manner described and the determined value is compared in the central control unit 10 with the pressure in the high-pressure line 6, which is adjusted to the engine torque before the parking brake is released, which is required for smooth start of the load operation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
EP96118129A 1995-12-13 1996-11-12 Commande du système de levage d'une grue Expired - Lifetime EP0779239B2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE19546579 1995-12-13
DE19546579 1995-12-13
DE19604428 1996-02-07
DE19604428A DE19604428C2 (de) 1995-12-13 1996-02-07 Steuervorrichtung für ein Hubwerk eines Krans

Publications (3)

Publication Number Publication Date
EP0779239A1 true EP0779239A1 (fr) 1997-06-18
EP0779239B1 EP0779239B1 (fr) 2002-05-02
EP0779239B2 EP0779239B2 (fr) 2006-09-13

Family

ID=26021222

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96118129A Expired - Lifetime EP0779239B2 (fr) 1995-12-13 1996-11-12 Commande du système de levage d'une grue

Country Status (3)

Country Link
US (1) US6079576A (fr)
EP (1) EP0779239B2 (fr)
JP (1) JPH09175778A (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1022247A2 (fr) * 1999-01-20 2000-07-26 Manitowoc Crane Group, Inc. Commande et système hydraulique de grues
EP1103511A2 (fr) * 1999-11-23 2001-05-30 Liebherr-Werk Ehingen GmbH Méthode et dispositif pour contrôler l'entraínement d'un treuil d' un appareil de levage
EP1748022A1 (fr) * 2005-07-25 2007-01-31 Liebherr-Werk Nenzing GmbH Grue
WO2018145806A1 (fr) * 2017-02-09 2018-08-16 Liebherr-Components Biberach Gmbh Engin de levage et procédé pour mettre en marche le mécanisme de levage d'un tel engin de levage

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3893857B2 (ja) 1999-11-25 2007-03-14 コベルコクレーン株式会社 油圧駆動ウインチの制御装置
EP1172325A3 (fr) * 2000-07-13 2002-04-17 Kobelco Construction Machinery Co., Ltd. Dispositif de commande pour un treuil hydraulique
US6527130B2 (en) 2001-02-16 2003-03-04 General Electric Co. Method and system for load measurement in a crane hoist
US7063306B2 (en) * 2003-10-01 2006-06-20 Paccar Inc Electronic winch monitoring system
JP2005195045A (ja) * 2003-12-26 2005-07-21 Kobelco Cranes Co Ltd 油圧ウィンチの制御装置
US7138925B2 (en) * 2004-03-29 2006-11-21 Nield Barry J Microprocessor integrated multifunction hoist system controller
DE202004008083U1 (de) * 2004-05-19 2005-11-10 Liebherr-Werk Ehingen Gmbh Mobilkran
JP4693612B2 (ja) * 2005-12-08 2011-06-01 Ｔｃｍ株式会社 昇降用油圧駆動装置
DE102008024512B4 (de) * 2008-05-21 2010-08-12 Manitowoc Crane Group France Sas Elektrohydraulische Leck-Kompensation
JP5317918B2 (ja) * 2009-09-30 2013-10-16 三菱電機Ｆａ産業機器株式会社 巻上機用制御装置及び方法
US20110095249A1 (en) * 2009-10-28 2011-04-28 John Collins Hydraulic crane system for lifting a crane on a vehicle
US8950733B2 (en) * 2009-10-28 2015-02-10 American Crane, Inc. Hydraulic system for lifting a crane on a vehicle
DK177006B1 (en) * 2010-01-19 2010-11-22 Ah Ind Projects Aps Method for controlling orientation of a load suspended in a carrier wire around the wire as well as a player arrangement
CN101922485B (zh) * 2010-04-13 2014-02-19 中联重科股份有限公司 液压控制系统和液压控制方法
DE102010015624B4 (de) * 2010-04-19 2013-10-10 Stemmann-Technik Gmbh Verfahren zum Betreiben einer Wickeltrommel und Wickeltrommel
JP5646310B2 (ja) * 2010-12-17 2014-12-24 株式会社タダノ 油圧アクチュエータの駆動装置
CN102491173B (zh) * 2011-12-12 2014-04-02 中联重科股份有限公司 起重机以及起重机用闭式卷扬负功率控制系统
CN102689836B (zh) * 2012-06-08 2013-03-06 中联重科股份有限公司 起重机的制动失效保护控制设备、方法、系统及工程机械
US9950910B2 (en) * 2012-09-11 2018-04-24 Eltronic A/S Method for controlling the orientation of a load suspended from a bearing wire about said bearing wire and a winch arrangement
US9908756B2 (en) * 2012-09-28 2018-03-06 Parker-Hannifin Corporation Constant pull winch controls
CN103776577B (zh) * 2014-01-03 2016-05-04 中国矿业大学 施工立井吊盘的稳绳张力检测装置和检测方法
CN104743446B (zh) * 2015-04-09 2017-03-15 上海时科自动化有限公司 一种起重机制动器制动力矩检测方法和系统
CN106698227B (zh) * 2016-12-15 2022-04-26 山东丰汇设备技术有限公司 带液力换挡变速器的起升机构控制系统及溜钩检测方法
CN106927369B (zh) * 2017-03-30 2018-10-09 徐工集团工程机械有限公司 随车起重机、及其作业安全保护方法、装置和系统
CN106829744B (zh) * 2017-04-06 2018-10-09 徐工集团工程机械有限公司 起重机控制方法、装置和系统
CN107902574A (zh) * 2017-12-04 2018-04-13 苏州海霸设备制造有限公司 用于抓斗式挖泥船的抓斗变幅机构液压驱动系统
RU195329U1 (ru) * 2019-06-17 2020-01-23 Сергей Александрович Базанов Гидравлическая передача
RU195330U1 (ru) * 2019-11-18 2020-01-23 Сергей Александрович Базанов Гидравлическая передача

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DE3441185A1 (de) * 1984-11-10 1986-05-22 Mannesmann Rexroth GmbH, 8770 Lohr Antriebssystem

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1022247A2 (fr) * 1999-01-20 2000-07-26 Manitowoc Crane Group, Inc. Commande et système hydraulique de grues
US6269635B1 (en) 1999-01-20 2001-08-07 Manitowoc Crane Group, Inc. Control and hydraulic system for a liftcrane
EP1022247A3 (fr) * 1999-01-20 2003-11-12 Manitowoc Crane Companies, Inc. Commande et système hydraulique de grues
EP1103511A2 (fr) * 1999-11-23 2001-05-30 Liebherr-Werk Ehingen GmbH Méthode et dispositif pour contrôler l'entraínement d'un treuil d' un appareil de levage
EP1103511A3 (fr) * 1999-11-23 2001-07-18 Liebherr-Werk Ehingen GmbH Méthode et dispositif pour contrôler l'entraínement d'un treuil d' un appareil de levage
EP1748022A1 (fr) * 2005-07-25 2007-01-31 Liebherr-Werk Nenzing GmbH Grue
US7490728B2 (en) 2005-07-25 2009-02-17 Liebherr-Werk Nenzing Gmbh Crane
WO2018145806A1 (fr) * 2017-02-09 2018-08-16 Liebherr-Components Biberach Gmbh Engin de levage et procédé pour mettre en marche le mécanisme de levage d'un tel engin de levage
CN110494384A (zh) * 2017-02-09 2019-11-22 比伯拉赫利勃海尔零部件有限公司 起重装置和用于起动该起重装置的提升绞车的方法
CN110494384B (zh) * 2017-02-09 2021-06-01 比伯拉赫利勃海尔零部件有限公司 起重装置和用于起动该起重装置的提升绞车的方法
US11027951B2 (en) 2017-02-09 2021-06-08 Liebherr-Components Biberach Gmbh Lifting device and method for starting up the hoisting gear of such a lifting device

Also Published As

Publication number Publication date
EP0779239B2 (fr) 2006-09-13
US6079576A (en) 2000-06-27
JPH09175778A (ja) 1997-07-08
EP0779239B1 (fr) 2002-05-02

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