EP0779239B1 - 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
EP0779239B1
EP0779239B1 EP96118129A EP96118129A EP0779239B1 EP 0779239 B1 EP0779239 B1 EP 0779239B1 EP 96118129 A EP96118129 A EP 96118129A EP 96118129 A EP96118129 A EP 96118129A EP 0779239 B1 EP0779239 B1 EP 0779239B1
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EP
European Patent Office
Prior art keywords
lifting
control device
jib
hydraulic
pressure
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
EP96118129A
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German (de)
English (en)
Other versions
EP0779239B2 (fr
EP0779239A1 (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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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
Publication of EP0779239B1 publication Critical patent/EP0779239B1/fr
Application granted granted Critical
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 a crane, preferably for a crane with a variable length and luffing boom, with a the hoist drum driving hydraulic motor that with a hydraulic pump that driven by an engine, preferably a diesel engine is a closed hydraulic circuit, and with a Parking brake for the hoist drum.
  • DE-A-3 441 185 shows such a control device for a hoist of a crane.
  • the hydraulic pump and the hydraulic motor all in one closed hydraulic circuit, have a leak, which can be, for example, two to twenty l / min. While this leakage is not particularly noticeable during lifting operation, because the crane operator will always move the control lever that the load is held or at the desired speed is raised or lowered, whereby the crane operator does not notice that with the appropriate control always the inevitable Leakage is taken into account. However, it is in crane operation also required lifting or lowering the load after loosening the parking brake. The smooth recording holding, lifting or lowering the load after releasing the Parking brake would only be possible if that from the hydraulic motor applied holding torque after releasing the parking brake corresponds exactly to the moment of the hoist drum.
  • the object of the invention is a control device of the entry specified type to create after releasing the parking brake a jerk-free holding, lifting or lowering one suspended load.
  • this object is achieved with a control device of the generic type solved in that in the high pressure line of the hydraulic circuit a pressure meter is arranged, the Signals are supplied to a comparison unit that a device provided to determine the torque of the hoist drum whose signals are fed to the comparison unit, and that the comparison unit together with a processing unit the pressure in the high pressure line that of the hydraulic motor to be applied, corresponding to the moment of the hoist drum Moment by increasing or decreasing the Adapts pump power in such a way that after opening the parking brake a smooth holding, lifting or lowering of the load is possible.
  • the luffing angle and the length of the boom can be measured.
  • the corresponding measured values are usually available in the central unit of the crane Available because they have to be processed for overload protection. These values can then also be used with sufficient accuracy determine the pressure in the high pressure line of the Hydraulic circuit must be set to after loosening the parking brake a smooth holding, lifting or lowering operation to be able to resume the load.
  • the deflection of the boom can be in the lower and outer area
  • Vertical angle meter can be arranged. From the measured Luffing angle of the boom and the values of the vertical angle meter, which are the angles of the corresponding sections of the boom to the vertical, the deflection of the boom can be determine very precisely.
  • the deflection of the boom can be done in a further embodiment the invention also from the measured pressure of the hydraulic fluid in the luffing cylinder, the measured luffing angle and determine the line load of the boom. You can do this iterative computational methods may be required, which, however, involve just let ordinary computers cope.
  • the hoist drum with a counter, or an incremental encoder to determine the current winding position of the hoist rope is provided.
  • the values of the incremental encoder are also constantly in the processing unit for determination of the current winch torque entered.
  • the hydraulic pump and the hydraulic motor can be closed Form hydrostatic drive system.
  • this hydrostatic Drive system consist of the pump and the motor expediently from an axial piston pump and from an axial piston motor in swash axis or swash plate design.
  • a Hydraulic motor 2 for example an axial piston motor driven in swash axis or swash plate design.
  • the Output shaft 3 of the hydraulic motor is with the shaft of the hoist drum coupled and carries a brake disc 4, over the the hoist drum 1 can be fixed.
  • the hydraulic motor 2 is with the hydraulic pump 5, which also consists of an axial piston pump exist in swash axis or swash plate construction can, connected by hydraulic lines 6, 7, so that the hydraulic motor 2 and the hydraulic pump 5 a closed Form hydraulic circuit.
  • a pressure meter 8 is arranged, the signals of the signal line 9 of the electronic control unit 10 fed and monitored in this.
  • the hydraulic pump is driven by a diesel engine 11.
  • the shaft of the hoist drum 1 is with an incremental encoder 12 provided, the signals via a signal line 13 constantly the central control unit 10 are supplied so that about a corresponding counter signals are given that the Report the respective hoist rope position to the hoist drum from the straight one the hoist rope 14 runs, or on which this runs.
  • the hydraulic pump 5 and the hydraulic motor 2 are with volume control levers with which they are between the highest swallowing amount and are controllable towards zero. The control of the quantity control lever takes place via control devices 15, 16 by the central Control unit 10.
  • the overload protection is connected to the central control unit 10, which consists of a unit 20, the signal lines Receives 21 signals from the sensors that detect the load state. 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 as well as its deflection. From the sensors generated signals, not only the load state is calculated, the torque of the hoist drum can also be determined from these become.
  • the parking brake is applied 4 These are only resolved when the central Control unit 10 the pressure in the high pressure line 6 to one Pressure has been set at which the hydraulic motor 2 Generated torque that corresponds to the holding torque of the hoist drum, that results from the current load condition.
  • This current load state is determined in the manner described and the determined value is stored in the central control unit 10 compared with the pressure in the high pressure line 6, which before Release the parking brake is adjusted to the engine torque that is necessary for smooth start of load operation.

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

Claims (7)

  1. Dispositif de commande d'un système de levage d'une grue, avec une flèche, de préférence pour une grue avec une flèche à longueur modifiable et basculante, avec un moteur hydraulique (2) entraínant le tambour (1) du système de levage, qui forme avec une pompe hydraulique (5) qui est entraínée par un moteur (11), de préférence par un moteur diesel, un circuit hydraulique fermé et avec un frein d'arrêt (4) pour le tambour (1) du système de levage, caractérisé en ce qu'il est disposé dans la ligne haute pression (6) du circuit hydraulique un capteur de pression (8) dont les signaux sont transmis à une unité de comparaison (10), en ce qu'il est prévu une installation pour déterminer le couple du tambour du système de levage, dont les signaux (21) sont acheminés à l'unité de comparaison (10) et en ce que l'unité de comparaison (10), conjointement avec une unité de traitement de l'unité de commande, adapte la pression dans la ligne haute pression, au couple à produire par le moteur hydraulique (2), correspondant au couple du tambour (1) du système de levage, par une augmentation ou diminution correspondante de la puissance de pompe de façon qu'après l'ouverture du frein d'arrêt (4), un maintien, relevage ou abaissement sans secousses de la charge soit possible.
  2. Dispositif de commande selon la revendication 1, caractérisé en ce que sont mesurés pour la détermination du couple du tambour (1) du système de levage la pression de l'huile hydraulique dans le cylindre basculant, l'angle du cylindre basculant et la longueur de la flèche.
  3. Dispositif de commande selon la revendication 1 ou 2, caractérisé en ce que pour la détermination de la longueur active de la flèche, le fléchissement de celle-ci est mesuré.
  4. Dispositif de commande selon la revendication 3, caractérisé en ce que pour la mesure du fléchissement de la flèche, des capteurs de mesure d'angle vertical sont disposés dans les zones inférieure et extérieure de celle-ci.
  5. Dispositif de commande selon l'une des revendications 1 à 4, caractérisé en ce que le fléchissement de la flèche est déterminé à partir de la pression mesurée du liquide hydraulique dans le cylindre basculant, l'angle de basculement mesuré et la charge linéaire de la flèche.
  6. Dispositif de commande selon l'une des revendications 1 à 5, caractérisé en ce que le treuil du système de levage est pourvu d'un compteur respectivement capteur d'incréments (12) pour déterminer la position d'enroulement actuelle du câble de levage (14).
  7. Dispositif de commande selon l'une des revendications 1 à 6, caractérisé en ce que la pompe hydraulique (5) et le moteur hydraulique (2) forment un système d'entraínement hydrostatique fermé.
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
DE19604428A DE19604428C2 (de) 1995-12-13 1996-02-07 Steuervorrichtung für ein Hubwerk eines Krans
DE19604428 1996-02-07

Publications (3)

Publication Number Publication Date
EP0779239A1 EP0779239A1 (fr) 1997-06-18
EP0779239B1 true 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)

Families Citing this family (32)

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US6269635B1 (en) 1999-01-20 2001-08-07 Manitowoc Crane Group, Inc. Control and hydraulic system for a liftcrane
DE19956265B4 (de) * 1999-11-23 2005-06-30 Liebherr-Werk Ehingen Gmbh Vorrichtung zur Überwachung des Betriebs von Hubwinden
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
DE102005034677A1 (de) * 2005-07-25 2007-02-01 Liebherr-Werk Nenzing Gmbh, Nenzing Kran
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
DE102017001238A1 (de) * 2017-02-09 2018-08-09 Liebherr-Components Biberach Gmbh Hebezeug und Verfahren zum Anfahren des Hubwerks eines solchen Hebezeugs
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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DE19604428A1 (de) * 1995-12-13 1997-06-19 Liebherr Werk Ehingen Steuervorrichtung für ein Hubwerk eines Krans

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Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2536631A1 (de) * 1975-08-16 1977-02-17 Fachverband Steinzeugind Dichtungsring fuer fugen von schachtbetonteilen u.dgl.
DE19604428A1 (de) * 1995-12-13 1997-06-19 Liebherr Werk Ehingen Steuervorrichtung für ein Hubwerk eines Krans

Also Published As

Publication number Publication date
US6079576A (en) 2000-06-27
JPH09175778A (ja) 1997-07-08
EP0779239B2 (fr) 2006-09-13
EP0779239A1 (fr) 1997-06-18

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