EP0779239B2 - Commande du système de levage d'une grue - Google Patents
Commande du système de levage d'une grue Download PDFInfo
- 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
Links
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 230000002706 hydrostatic effect Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 2
- 238000000205 computational method Methods 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000005339 levitation Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
Images
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)
- 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. - 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.
- 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.
- 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.
- 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).
- 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.
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 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) |
Families Citing this family (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
Family Cites Families (26)
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DE2017272A1 (de) * | 1970-04-10 | 1971-10-21 | Linde Ag | Überlastsicherung für einen hydrostatisch angetriebenen Kran |
DE2164628C3 (de) * | 1971-12-24 | 1978-03-16 | Siegfried Dipl.-Ing. Dr.-Ing. 4930 Detmold Gross | Überlastabschalteinrichtung für hintereinandergekoppelte hydraulische Hubbzw. Verstellmechanismen |
GB1463811A (en) * | 1973-05-16 | 1977-02-09 | Pye Ltd | Crane load indicating arrangement |
JPS5339504Y2 (fr) * | 1974-03-05 | 1978-09-25 | ||
DE2536631C3 (de) * | 1975-08-16 | 1979-08-02 | Woco Franz Josef Wolf & Co, 6483 Bad Soden-Salmuenster | Dichtungsring aus elastischem Material für Fugen zwischen Schachtringen aus Beton |
DE2659755B2 (de) * | 1976-12-31 | 1978-10-12 | Krueger & Co Kg, 4300 Essen | Vorrichtung zum Abgeben eines Sollwertsignals für eine Überwachungseinrichtung eines Auslegerkranes o.dgl |
US4157736A (en) * | 1978-01-11 | 1979-06-12 | Carbert Ralph E | Overload protection apparatus for hydraulic multi-function equipment |
US4222491A (en) * | 1978-08-02 | 1980-09-16 | Eaton Corporation | Crane operating aid and sensor arrangement therefor |
US4187681A (en) * | 1978-08-28 | 1980-02-12 | Bucyrus-Erie Company | Hydrostatic winch |
JPS55130485A (en) * | 1979-03-23 | 1980-10-09 | Hitachi Ltd | Method and device for starting oil pressure drive type hoist |
JPS56136790A (en) * | 1980-03-27 | 1981-10-26 | Fukushima Ltd | Automatic controller for oil pressure winch |
US4337926A (en) * | 1980-09-02 | 1982-07-06 | Eaton Corporation | Winch control |
JPS5895095A (ja) * | 1981-11-27 | 1983-06-06 | 株式会社加藤製作所 | クレ−ン装置 |
SU1211207A1 (ru) * | 1984-08-10 | 1986-02-15 | Московское научно-производственное объединение по строительному и дорожному машиностроению | Гидропривод механизмов стрелового самоходного крана |
DE3441185A1 (de) * | 1984-11-10 | 1986-05-22 | Mannesmann Rexroth GmbH, 8770 Lohr | Antriebssystem |
JPS61295999A (ja) * | 1985-06-24 | 1986-12-26 | 株式会社 福島製作所 | ウインチ液圧回路 |
JPH085623B2 (ja) * | 1989-09-27 | 1996-01-24 | 株式会社神戸製鋼所 | クレーンの安全装置 |
US5189605A (en) * | 1989-10-10 | 1993-02-23 | The Manitowoc Company, Inc. | Control and hydraulic system for a liftcrane |
US5297019A (en) * | 1989-10-10 | 1994-03-22 | The Manitowoc Company, Inc. | Control and hydraulic system for liftcrane |
JP2744110B2 (ja) * | 1990-03-30 | 1998-04-28 | 株式会社神戸製鋼所 | クレーンにおける吊荷の鉛直地切り制御装置 |
DE59101495D1 (de) * | 1990-09-21 | 1994-06-01 | Siemens Ag | Sicherheitsvorrichtung für einen Hebezeugantrieb. |
SE467408B (sv) * | 1990-11-16 | 1992-07-13 | Hiab Ab | Saett och anordning foer foerhindrande av punktering av ett lastkaennande och tryckkompenserande styrsystem foer en hydraulisk kran |
JPH083434Y2 (ja) * | 1991-10-17 | 1996-01-31 | 住友建機株式会社 | 巻上装置の負荷落下防止装置 |
JPH0725589A (ja) * | 1993-07-08 | 1995-01-27 | Hitachi Constr Mach Co Ltd | クレーンの旋回用油圧駆動装置 |
JPH07309590A (ja) * | 1994-05-16 | 1995-11-28 | Ishikawajima Constr Mach Co | ウインチの制御回路 |
DE19604428C2 (de) * | 1995-12-13 | 1998-06-18 | Liebherr Werk Ehingen | Steuervorrichtung für ein Hubwerk eines Krans |
-
1996
- 1996-11-12 EP EP96118129A patent/EP0779239B2/fr not_active Expired - Lifetime
- 1996-12-09 JP JP8328500A patent/JPH09175778A/ja active Pending
- 1996-12-12 US US08/766,407 patent/US6079576A/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP0779239A1 (fr) | 1997-06-18 |
EP0779239B1 (fr) | 2002-05-02 |
US6079576A (en) | 2000-06-27 |
JPH09175778A (ja) | 1997-07-08 |
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