EP0812797A1 - Dispositif de reploiement et de deploiement de fleche destine a une grue - Google Patents

Dispositif de reploiement et de deploiement de fleche destine a une grue Download PDF

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Publication number
EP0812797A1
EP0812797A1 EP95910728A EP95910728A EP0812797A1 EP 0812797 A1 EP0812797 A1 EP 0812797A1 EP 95910728 A EP95910728 A EP 95910728A EP 95910728 A EP95910728 A EP 95910728A EP 0812797 A1 EP0812797 A1 EP 0812797A1
Authority
EP
European Patent Office
Prior art keywords
boom
rope
attitude
hoisting angle
length
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.)
Withdrawn
Application number
EP95910728A
Other languages
German (de)
English (en)
Other versions
EP0812797A4 (fr
Inventor
Kazunori Kabushiki Kaisha KUROMOTO
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.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
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
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Publication of EP0812797A1 publication Critical patent/EP0812797A1/fr
Publication of EP0812797A4 publication Critical patent/EP0812797A4/fr
Withdrawn legal-status Critical Current

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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
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives

Definitions

  • the present invention relates to a boom storing and extending device for a crane, which stores the boom of a crane so that the boom attitude changes from a working attitude to a traveling attitude, or extends the boom so that the boom attitude changes from a traveling attitude to a working attitude.
  • the boom 4 in its shortest state, be set to a traveling attitude B as indicated by the arrow C1, and that the boom 4 be stored so that the hook 7 does not swing around by attaching the hook 7 to an anchoring member 10 such as a link or wire ring mounted to a revolving frame 3, which is the revolving superstructure.
  • an anchoring member 10 such as a link or wire ring mounted to a revolving frame 3, which is the revolving superstructure.
  • the hook 7 can crash into the frame of the crane, causing damage, or dangerous situations may likely occur, in which too much tension is applied to the hoisting rope 6, tearing off the wire ring 1 that anchors the hook 7 and allowing the hook 7 to fly up.
  • An object of the present invention is to make it possible for the two simultaneous operations involving a boom driving device and a winch driving device to be performed easily and accurately without the need for expert skills, thereby improving safety during boom storing operations or boom extending operations.
  • the main invention of the present invention is a boom storing and extending device for a crane, which stores a boom by changing the attitude of the boom from a working attitude to a traveling attitude, or which extends the boom by changing the attitude of the boom from a traveling attitude to a working attitude by using a boom driving device to change a boom hoisting angle and a winch driving device to change the length of a hoisting rope from tip of the boom to a hook provided at fore end of the hoisting rope, while anchoring the hook to an anchoring member mounted to a revolving superstructure
  • the boom storing and extending device comprising setting means for setting beforehand a corresponding relationship between a boom hoisting angle and a length of the rope when the boom shifts its attitude from the working attitude to the traveling attitude; boom hoisting angle detecting means for detecting current boom hoisting angle; rope length detecting means for detecting current rope length; and control means for controlling the boom driving device and the winch driving device so that the boom hoisting angle and the rope length of
  • the corresponding relationship between the boom hoisting angle ⁇ and the length of the rope s is set beforehand for the attitude of the boom 4 as it shifts from a working attitude A See Fig. 1 to a traveling attitude B.
  • the current boom hoisting angle ⁇ is detected by the boom hoisting angle detecting means 14 (See Fig. 1), and the current length of the rope s is detected by the rope length detecting means 18 (See Fig. 1).
  • the boom driving device 13 and the winch driving device 17 See Fig. 5 are controlled so that the boom hoisting angle and length of the rope are equal to the boom hoisting angle ⁇ p and length of the rope sp set as described above.
  • Fig. 1 is a side view of the outside of the crane 1 used in the embodiment, and, as shown in the figure, the crane is assumed to travel via a wheeled lower mechanism 2.
  • a revolving superstructure 3 which is a revolving frame, is mounted revolvably, and on the revolving superstructure 3 a boom 4 is rotatably supported by a shaft via a boom rotation pin 4a, enabling this boom to move up and down as depicted by the arrows C1 and C2.
  • the hoisting angle ⁇ of the boom 4 is detected by a specified hoisting angle sensor 14, which detects the variable resistance provided by the rotation pin 4a, the output from a rotary encoder and the like.
  • the configuration of the boom driver 13 that drives the boom 4 is described later (See Fig. 7(a)).
  • a hoisting rope 6, at one end of which is attached a hook 7, is installed on the boom 4 to freely hoist and lower the hook 7 via a plurality of guide sheaves, including a guide sheave 5 mounted at the top of the boom 4.
  • a guide sheave 5 mounted at the top of the boom 4.
  • the distance between the location at the tip 4b of the boom 4 and the location 7a at the center of the hook 7, which is below that, is defined as the length of the rope s.
  • the length of the rope s is detected by a specified rope length sensor 18, such as a rotary encoder that outputs the length of the rope s by detecting the number of revolutions of the guide sheave 5.
  • a specified rope length sensor 18 such as a rotary encoder that outputs the length of the rope s by detecting the number of revolutions of the guide sheave 5.
  • the configuration of the winch driver 17 that hoists up and lowers down the hoisting rope 6 is described later (See Fig. 7(b)).
  • the boom 4 In order to perform storing operations of the boom 4, as described above, first, the boom 4 is shortened to its minimum length and raised sufficiently, and the hook 7 is lowered to a position where it can be anchored to a wire ring 10. Then, so as to maintain the state whereby the hook 7 is anchored at a fixed tension to the wire ring 10, the boom driver 13 drives the boom 4, causing the hoisting angle ⁇ to change so that the hoisting angle ⁇ gradually decreases, and the winch driver 17 hoists the hoisting rope 6 causing the length of the rope s to change so that the length of the rope s gradually becomes shorter. In this way, the attitude of the boom 4 changes from a working attitude A to a traveling attitude B as depicted by the arrow C1, and the boom 4 is stored.
  • Fig. 3 is a block diagram depicting the configuration of a controller 11 which performs the above-described storing operation.
  • This controller 11 controls the boom hoisting angle manually, and controls the length of the rope automatically.
  • An electric lever 12 comprises an operating lever 12a mounted in the operating compartment and operated by the operator to manually change the boom hoisting angle ⁇ , and a velocity command output component 12b that outputs to the boom drive 13 as a boom hoisting angle velocity cowand ⁇ ⁇ R a voltage proportional to the manipulated variable of the operating lever 12a configured by a variable resistor, etc.
  • the " ⁇ " depicted in the above-mentioned “ ⁇ ⁇ R" is defined as that which hereafter expresses a "one-level differential".
  • the boom driver 13 drives the boom 4 so that the hoisting angle ⁇ changes at the ⁇ ⁇ R velocity specified by the input velocity command ⁇ ⁇ R.
  • the velocity command is applied to an electrical proportional control EPC valve driver 22, and this driver 22 outputs to an EPC valve 23 an electric current E proportional to the input velocity command.
  • the EPC valve 23 generates a pilot pressure PT, which is a secondary pressure proportional to the input electric current E, and applies this to a pilot port 24a or 24b of the flow control valve 24, changing the valve location of the flow control valve 24 in accordance with the pressure PT.
  • An hydraulic pump 21 supplies discharge pressure oil to the flow control valve 24, and the pressure oil of the flow determined by the above-mentioned valve location is supplied from the flow control valve 24 to an hydraulic cylinder 25 for driving the boom 4.
  • the hoisting angle ⁇ of the boom 4 is changed at the ⁇ ⁇ R velocity dictated by the velocity command.
  • the successive hoisting angles ⁇ of the boom 4 by the driving of the boom 4 are detected by the hoisting angle sensor 14.
  • the corresponding relationship D between the boom hoisting angle ⁇ and the length of the rope 1 as the boom 4 shifts from a working attitude A to a traveling attitude B is stored in the memory component 15.
  • This corresponding relationship D is the target locus of ⁇ and s that enables storing to be performed accurately in a state wherein the hook 7 remains anchored to the wire ring 10 at a fixed tension when ⁇ and s change along the locus D.
  • the target locus D can be found beforehand via tests conducted using an actual crane, or via simulations.
  • the length of the rope Sr that corresponds to the hoisting angle ⁇ detected by the hoisting angle sensor 14 is read out from the memory component 15.
  • a point P1 can be found on the target locus D that corresponds to the hoisting angle ⁇ 1 as indicated by the arrow, and the length of the rope sR1 indicated by this point P1 can be found and output from memory 15.
  • the length of the rope Sr output from memory 15 is added to a subtractor 16 as the target value of the winch drive control system. Meanwhile, the current rope length s is detected by the rope length sensor 18, and this detected value s is fed back to the subtractor 16 as a feedback amount.
  • the subtractor 16 outputs the deviation ⁇ Sr between the target value Sr and the feedback amount s, and this deviation ⁇ Sr is added to the winch driver 17.
  • the winch driver 17 is configured similarly to the above-described boom driver 13. As shown in Fig. 7(b), the deviation command ⁇ Sr is applied to the EPC valve driver 22, and the driver 22 outputs to an EPC valve 23 an electric current E proportional to the input deviation command.
  • the EPC valve 23 generates a pilot pressure PT proportional to the input electric current E, and applies this to a pilot port 26a or 26b of the flow control valve 26, changing the valve location of the flow control valve 26 in accordance with the pressure PT.
  • a hydraulic pump 21 supplies discharge pressure oil to the flow control valve 26, and the pressure oil of the flow determined by the above-mentioned valve location is supplied from the flow control valve 26 to an hydraulic motor 27 for driving the winch.
  • the winch drive control system need not be a feedback control system, but can also be configured as an open loop control system. When this is the case, a rope length sensor 18 need not be installed.
  • the hoisting angle ⁇ and length of the rope s change along the target locus D, enabling the storing operation to be performed accurately.
  • the operator need only be concerned with manipulating the operating lever 12a for driving the boom 4 so that the operations can be easily performed without the need for expert skills.
  • Fig. 4 is a block diagram depicting another example of a configuration for a controller that performs the storing operation.
  • This controller 11' contrary to the one depicted in Fig. 3, controls the length of the rope manually, and controls the hoisting angle automatically.
  • the electric lever 19 is a lever for driving the winch, and is configured the same as electric lever 12, and when the operating lever 19a is manipulated, a voltage proportional to the manipulated variable of the operating lever 19a is output from the velocity command output component 19b to the winch driver 17 as a winch velocity command s ⁇ R.
  • the winch driver 17 drives the winch so that the length of the rope s changes at the s ⁇ R velocity specified by the velocity command s ⁇ R.
  • the length of the rope s changes in line with the driving of the winch, and the successive rope lengths s are detected by the rope length sensor 18.
  • a hoisting angle ⁇ R that corresponds to the length of the rope s detected by the above-described rope length sensor 18 is read out from the memory component 15.
  • a point P2 can be found on the target locus D that corresponds to the length of the rope s2 as indicated by the arrow, and the hoisting angle ⁇ R2 indicated by this point P2 can be found and output from the memory 15.
  • the hoisting angle ⁇ R2 output from the memory 15 is added to a subtractor 16 as the target value of the boom drive control system. Meanwhile, the current hoisting angle ⁇ is detected by the hoisting angle sensor 14, and this detected value ⁇ is fed back to the subtractor 16 as feedback.
  • the subtractor 16 outputs the deviation ⁇ R between the target value ⁇ R2 and the feedback ⁇ , and this deviation ⁇ R is added to the boom driver 17.
  • the boom drive control system need not be a feedback control system, but can also be configured as an open loop control system. When this is the case, a hoisting angle sensor 14 need not be installed.
  • the hoisting angle ⁇ and length of the rope s change along the target locus D, enabling a storing operation to be performed accurately.
  • the operator need only be concerned with manipulating the operating lever 19a for driving the winch so that the storing operations can be made easily without the need for expert skills.
  • Fig. 5 is a block diagram depicting yet another example of a configuration for a controller that performs the above-described storing operation.
  • This controller 11'' automatically controls both the boom hoisting angle and the length of the rope.
  • a boom hoisting angle velocity command ⁇ ⁇ R proportional to the manipulated variable of the operating lever 12a is output from the velocity command output component 12b of the electric lever 12 for driving the boom.
  • the boom driver 13 drives the boom 4 so that the hoisting angle ⁇ changes in accordance with the input command.
  • the successive hoisting angles ⁇ of the boom 4, which change in line with the driving of the boom 4, are detected by the hoisting angle sensor 14 and added to an arithmetic unit 20.
  • a winch velocity command s ⁇ R proportional to the manipulated variable of the operating lever 19a is output from the velocity command output component 19b of the electric lever 19 for driving the winch.
  • the winch driver 17 drives the winch so that the length of the rope s changes in accordance with the input command.
  • the successive changes in rope length s in line with the driving of the winch are detected by the rope length sensor 18 and added to the arithmetic unit 20.
  • the arithmetic unit 20 calculates the deviation ⁇ between the hoisting angle ⁇ detected by the hoisting angle sensor 14 and the target hoisting angle ⁇ p on the target locus D, and calculates the deviation ⁇ s between the length of the rope s detected by the rope length sensor 18 and the target rope length sp on the target locus D, and then outputs these results.
  • the current hoisting angle ⁇ and the current length of the rope s are expressed as coordinate location Q ⁇ , s of the ⁇ - s coordinate system. Then, coordinate location P ⁇ p, sp on the locus D, which manifests the shortest distance between this coordinate location Q and a coordinate location on the target locus D, can be found.
  • the vector directed from coordinate location Q to coordinate location P at this time is labeled L.
  • the deviations ⁇ , ⁇ s output from the arithmetic unit 20 are added to the respective velocity commands ⁇ ⁇ R, s ⁇ R mentioned above, and these commands ⁇ ⁇ R + ⁇ , s ⁇ R + ⁇ s are then added to the boom driver 13 and winch driver 17, respectively.
  • the boom 4 is driven by the boom driver 13 so that the deviation ⁇ becomes equal to zero, and the winch is driven by the winch driver 17 so that the deviation ⁇ s becomes equal to zero.
  • the hoisting angle ⁇ and the length of the rope s change along the target locus D, making it possible to automatically perform a storing operation with excellent accuracy.
  • control processes for performing a storing operation of the boom are described. However, similar control operations can be applied when performing an extending operation of the boom.
  • the present invention makes it possible to easily and with good accuracy perform the two operations for driving a boom and driving a winch simultaneously without the need for expert skills.
  • the safety of boom storing and extending operations for a crane are dramatically improved.
  • the application of the present invention to equipment other than cranes which require that working machinery be stored and extended can dramatically improve the safety of that equipment.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
EP95910728A 1993-12-17 1995-03-02 Dispositif de reploiement et de deploiement de fleche destine a une grue Withdrawn EP0812797A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP5318415A JPH07172775A (ja) 1993-12-17 1993-12-17 クレーンのブーム格納・展開装置
PCT/JP1995/000335 WO1996026883A1 (fr) 1993-12-17 1995-03-02 Dispositif de reploiement et de deploiement de fleche destine a une grue

Publications (2)

Publication Number Publication Date
EP0812797A1 true EP0812797A1 (fr) 1997-12-17
EP0812797A4 EP0812797A4 (fr) 2000-03-15

Family

ID=18098902

Family Applications (1)

Application Number Title Priority Date Filing Date
EP95910728A Withdrawn EP0812797A4 (fr) 1993-12-17 1995-03-02 Dispositif de reploiement et de deploiement de fleche destine a une grue

Country Status (4)

Country Link
EP (1) EP0812797A4 (fr)
JP (1) JPH07172775A (fr)
TW (1) TW329793U (fr)
WO (1) WO1996026883A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0921093A2 (fr) * 1997-12-05 1999-06-09 Grove U.S. LLC Système de mesure de l'angle de relevage
CN107572378A (zh) * 2017-08-15 2018-01-12 阜新力夫特液压有限公司 一种可控同轴双速双向液压马达驱动系统
EP3763662A4 (fr) * 2018-03-09 2022-02-16 Tadano Ltd. Grue
EP3988492A4 (fr) * 2019-07-30 2023-08-02 Tadano Ltd. Dispositif de commande, dispositif de flèche et grue mobile

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4447107B2 (ja) * 2000-03-28 2010-04-07 株式会社タダノ 車載式クレーンのブーム制御装置
JP2005255359A (ja) * 2004-03-12 2005-09-22 Toyota Motor Corp フィラメントワインディング装置
CN102040160B (zh) * 2010-08-30 2012-10-10 湖南中联重科专用车有限责任公司 用于控制起重机的吊钩运动轨迹的方法
CN111943060B (zh) * 2020-08-17 2022-03-18 交通运输部公路科学研究所 姿态调整方法
JP2022080588A (ja) 2020-11-18 2022-05-30 株式会社タダノ コントローラ、ブーム装置、及びクレーン車
JP2022080589A (ja) * 2020-11-18 2022-05-30 株式会社タダノ コントローラ、ブーム装置、及びクレーン車
CN117446670B (zh) * 2023-12-25 2024-04-26 泰安市特种设备检验研究院 一种基于人机共融的塔式起重机自动控制方法及系统

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5517751Y2 (fr) * 1975-04-23 1980-04-24
JPS5914475Y2 (ja) * 1979-09-11 1984-04-27 愛知車輛株式会社 フツク格納安全装置
JPS63166590U (fr) * 1986-06-03 1988-10-31

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
No further relevant documents disclosed *
See also references of WO9626883A1 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0921093A2 (fr) * 1997-12-05 1999-06-09 Grove U.S. LLC Système de mesure de l'angle de relevage
EP0921093A3 (fr) * 1997-12-05 1999-06-16 Grove U.S. LLC Système de mesure de l'angle de relevage
US6473715B1 (en) 1997-12-05 2002-10-29 Grove U.S. L.L.C. Luffing angle measurement system
CN107572378A (zh) * 2017-08-15 2018-01-12 阜新力夫特液压有限公司 一种可控同轴双速双向液压马达驱动系统
EP3763662A4 (fr) * 2018-03-09 2022-02-16 Tadano Ltd. Grue
US11434112B2 (en) 2018-03-09 2022-09-06 Tadano Ltd. Crane
EP3988492A4 (fr) * 2019-07-30 2023-08-02 Tadano Ltd. Dispositif de commande, dispositif de flèche et grue mobile

Also Published As

Publication number Publication date
TW329793U (en) 1998-04-11
WO1996026883A1 (fr) 1996-09-06
EP0812797A4 (fr) 2000-03-15
JPH07172775A (ja) 1995-07-11

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