EP0779239B2 - 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
EP0779239B2
EP0779239B2 EP96118129A EP96118129A EP0779239B2 EP 0779239 B2 EP0779239 B2 EP 0779239B2 EP 96118129 A EP96118129 A EP 96118129A EP 96118129 A EP96118129 A EP 96118129A EP 0779239 B2 EP0779239 B2 EP 0779239B2
Authority
EP
European Patent Office
Prior art keywords
lifting
jib
pressure
hydraulic
control device
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
EP0779239B1 (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
Priority date (The priority date 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 date listed.)
Filing date
Publication date
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=26021222&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0779239(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
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 of a crane according to the preamble of claim 1.
  • DE-A-3 441 185 shows such a control device for a hoist of a crane.
  • the hydraulic pump and the hydraulic motor which are in a closed hydraulic circuit, have a leakage, which may be, for example, two to twenty l / min.
  • a leakage which may be, for example, two to twenty l / min.
  • this leakage is not particularly noticeable, because the crane operator will always move the control lever so that the load is held or lifted or lowered at the desired speed, the crane operator does not notice that in the corresponding control always the inevitable Leakage is taken into account.
  • the jerk-free recording of holding, lifting or lowering the load after releasing the parking brake would only be possible if the applied by the hydraulic motor holding torque after release of the parking brake exactly corresponds to the moment of the hoist drum.
  • the pressure in the high-pressure line of the hydraulic circuit no longer corresponds exactly to the pressure at which the hydraulic motor releases the suspended load before the parking brake is applied because of the inevitable leakage after releasing the parking brake has held, so that the opening of the parking brake due to the current pressure in the high pressure line of the hydraulic circuit, which differs from the pressure required by the hydraulic motor, a jerk is inevitable.
  • the object of the invention is to provide a control device of the type described, which allows a jerk-free holding, lifting or lowering a floating load after releasing the parking brake.
  • this object is achieved by a control device according to claim 1,
  • the pressure in the high-pressure line of the hydraulic circuit is constantly monitored and the signals of the arranged in the high-pressure line pressure gauge are compared with the moment of Hubtechnikstrommel, with an example consisting of a computer processing unit is provided before the release of the parking brake, the pressure in the high pressure line, which is proportional to the engine torque, the moment of Hubtechnikwinde adapts, so that the jerk-free recording of the lifting operation is possible after releasing the parking brake.
  • the requirement to resume operation with the suspended load after a release of the parking brake not only arises when the parking brake incident with suspended load, but also, for example, when the parking brake engaged the resting on the ground load only by rocking 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 jib are measured to determine the moment of the hoist drum.
  • the corresponding measured values are usually available in the central unit of the crane, since they must be processed for overload protection. From these values can then be determined with sufficient accuracy, the pressure that must be set in the high-pressure line of the hydraulic circuit to resume a jerk-free holding, lifting or lowering operation of the load after releasing the parking brake can.
  • the deflection of the cantilever is taken into account in order to determine the effective length of the cantilever.
  • To measure the deflection of the boom can be arranged in the lower and outer region vertical angle. From the measured canting angle of the cantilever and the values of the vertical angle gauges, which indicate the angles of the corresponding sections of the cantilever to the vertical, the deflection of the cantilever can be determined very accurately.
  • the deflection of the boom can be determined according to a further embodiment of the invention also from the measured pressure of the hydraulic fluid in the luffing cylinder, the measured rocking angle and the line load of the boom. This may require iterative computational methods, which, however, can easily be handled with conventional computers to let.
  • the hoist drum is provided with a counter, or an incremental encoder, for determining the current winding position of the hoisting rope.
  • the values of the incremental encoder are also constantly entered into the processing unit for determining 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 of an axial piston motor in oblique-axis or swash plate construction.
  • the mounted for example on the superstructure of a vehicle crane with telescopic boom Hubtechnikstrommel 1 is driven by a controllable hydraulic motor 2, for example, an axial piston in Schrägachsen- 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 disk 4, via 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 oblique-axis or swash plate construction, by hydraulic lines 6, 7, so that the hydraulic motor 2 and the hydraulic pump 5 is a closed hydraulic Circle form.
  • a pressure gauge 8 is arranged, the signals of which are constantly supplied via the signal line 9 to the electronic control unit 10 and monitored therein.
  • the hydro-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 constantly supplied to the central control unit 10 via a signal line 13, so that signals are output via a corresponding counter which signal the respective hoisting position of the hoist drum from which the hoist rope 14 is just expires, or runs on this.
  • the hydro-pump 5 and the hydro-motor 2 are provided with Mengsnstellhebeln, with which they are controllable between the highest intake and zero. The control of the amount setting lever via control devices 15, 16 by the central control unit 10th
  • the overload protection is connected, which consists of a unit 20 which receives signals from the load condition detecting sensors via signal lines 21.
  • These are, for example, sensors that detect the pressure of the hydraulic oil in the luffing cylinder, the rocking angle and the length of the boom and its deflection. From the signals generated by the sensors not only the load condition is calculated, from these also the moment of the hoist drum can be determined.

Landscapes

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

Claims (6)

  1. Dispositif de commande d'un système de levage d'une grue avec une flèche à longueur modifiable et basculante, avec un moteur hydraulique (2) entraînant le tambour (1) du système de levage, qui forme avec une pompe hydraulique (5), qui est entraînée par un moteur (11), de préférence par un moteur Diesel, un circuit hydraulique fermé,
    avec un frein d'arrêt (4) pour le tambour (1) du système de levage,
    avec un capteur de pression (8) disposé dans la ligne haute pression (6) du circuit hydraulique, dont les signaux sont transmis à une unité de comparaison (10), et
    avec une sécurité de surcharge (20),
    caractérisé
    en ce que la sécurité de surcharge (20) reçoit par des lignes de signalisation (21) des signaux venant de capteurs de mesure, qui détectent la pression de l'huile hydraulique dans le cylindre basculant de la flèche, l'angle de basculement et la longueur de la flèche,
    en ce qu'il est prévu une installation pour déterminer le couple de retenue résultant de l'état de charge actuel du tambour du système de levage, qui détermine le couple du tambour du système de levage à partir des signaux des capteurs de mesure reliés à la sécurité de surcharge (20), qui détectent la pression de l'huile hydraulique dans le cylindre basculant de la flèche, l'angle de basculement et la longueur de la flèche, et dont les signaux (21) indiquant le couple du tambour du système de levage sont transmis 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 correspondant au couple de retenue résultant de l'état de charge actuel du tambour (1) du système de levage par une augmentation ou diminution correspondante de la puissance de pompe, avant le relâchement du frein d'arrêt, 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 pour la détermination de la longueur active de la flèche, le fléchissement de celle-ci est mesuré.
  3. Dispositif de commande selon la revendication 2, 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.
  4. Dispositif de commande selon l'une des revendications 1 à 3, 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.
  5. Dispositif de commande selon l'une des revendications 1 à 4, 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).
  6. Dispositif de commande selon l'une des revendications 1 à 5, caractérisé en ce que la pompe hydraulique (5) et le moteur hydraulique (2) forment un système d'entraînement 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 EP0779239B1 (fr) 2002-05-02
EP0779239B2 true 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)

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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
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JP2005195045A (ja) * 2003-12-26 2005-07-21 Kobelco Cranes Co Ltd 油圧ウィンチの制御装置
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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
US8950733B2 (en) * 2009-10-28 2015-02-10 American Crane, Inc. Hydraulic system for lifting a crane on a vehicle
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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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DE19604428C2 (de) * 1995-12-13 1998-06-18 Liebherr Werk Ehingen Steuervorrichtung für ein Hubwerk eines Krans

Also Published As

Publication number Publication date
JPH09175778A (ja) 1997-07-08
US6079576A (en) 2000-06-27
EP0779239B1 (fr) 2002-05-02
EP0779239A1 (fr) 1997-06-18

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