EP0985629B1 - Crane - Google Patents

Crane Download PDF

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Publication number
EP0985629B1
EP0985629B1 EP98116951A EP98116951A EP0985629B1 EP 0985629 B1 EP0985629 B1 EP 0985629B1 EP 98116951 A EP98116951 A EP 98116951A EP 98116951 A EP98116951 A EP 98116951A EP 0985629 B1 EP0985629 B1 EP 0985629B1
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EP
European Patent Office
Prior art keywords
crane
cylinder
pressure
signal
section
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
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EP98116951A
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German (de)
French (fr)
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EP0985629A1 (en
Inventor
Erich Wimmer
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Palfinger AG
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Palfinger AG
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Filing date
Publication date
Priority to AT98116951T priority Critical patent/ATE203488T1/en
Application filed by Palfinger AG filed Critical Palfinger AG
Priority to ES98116951T priority patent/ES2158637T3/en
Priority to DK98116951T priority patent/DK0985629T3/en
Priority to DE59801090T priority patent/DE59801090D1/en
Priority to EP98116951A priority patent/EP0985629B1/en
Priority to KR10-1999-0035086A priority patent/KR100392333B1/en
Priority to US09/383,404 priority patent/US6328173B1/en
Priority to JP11244878A priority patent/JP2000191285A/en
Publication of EP0985629A1 publication Critical patent/EP0985629A1/en
Application granted granted Critical
Publication of EP0985629B1 publication Critical patent/EP0985629B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30505—Non-return valves, i.e. check valves
    • F15B2211/30515—Load holding valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
    • F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
    • F15B2211/31576—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having a single pressure source and a single output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/35—Directional control combined with flow control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/76—Control of force or torque of the output member

Definitions

  • the invention relates to a crane with a hydraulically operated boom system, with at least one cylinder for actuating the boom system and one Device for monitoring the pressure in the crane indicating the load on the crane Cylinder, the flow of hydraulic fluid to the cylinder through change the cross section of a valve is controllable.
  • vibrations can occur in the vertical direction, when a load is moved in the vertical direction, i.e. raised or lowered, and this movement is stopped. It is through such vibrations Load peaks in the support structure of the crane and / or too uncontrolled Movements of the load.
  • the aim of the invention is a crane which is used to avoid dynamic overloading is provided with a real and at the same time quick-acting regulation.
  • a control arrangement in which the time derivative of the measured in a cylinder Pressure is used is also described in DE 44 28 691. in the Contrary to the invention, however, this control arrangement does not relate to a controlled one Crane, but fully automatic machines, such as presses, Punching or nibbling machines. These work preprogrammed and shielded from unpredictable environmental influences and are just constantly recurring exposed to constant loads. The movement sequences with the crane, however are all controlled, with constantly changing load cases, which result from the controlling influence of the crane driver and the different result in manipulated loads.
  • Fig. 1 shows a loading crane 1 of classic design for a truck.
  • the crane 1 points a main arm 2 and a multi-telescopic articulated arm 5, at the tip a crane hook 4 is arranged for hanging loads.
  • the main arm 2 of the crane 1 is pivoted relative to the column 6 of the crane 1 by means of a lifting cylinder 3.
  • Fig. 2 shows the details of the device according to the invention, in particular on a cylinder is attached to said lifting cylinder 3.
  • the control of the lifting cylinder 3 takes place via a commercially available remote control, which consists of a transmitter 9 and Receiver 10 exists.
  • Control signals from the actuation of the control lever on the transmitter 9 originate, are transmitted by radio to the receiver 10, which in turn is a signal forwards to the slider 12.
  • the slide 12 is a multiple proportional valve with volume control, the drives for adjusting the valve cross sections are integrated in the slide 12.
  • Such a slide is for example under the designation PVG 32 available from Danfoss.
  • the differentiating unit 8 supplies an output signal which the drive for adjustment of the valve cross section in the sense of a reduction in the pressure change detected operated.
  • the output signal of the differentiating unit 8 can with a factor k (p) that of the measured pressure values depends, are multiplied, whereby the signal is achieved increases disproportionately at higher pressure values. This takes account of the fact borne that the risk of the support structures of the crane from dynamic loads is particularly large given a high static base load.
  • the output signal of the differentiating unit 8 is used to determine the desired position of the valves Slider 12 defining signal, which is forwarded by the receiver 10, superimposed and then fed to the slider 12.
  • this overlay means that the adjustment speed of the valves in the slide 12 and thus the acceleration of the crane boom is reduced. Since only large accelerations are disadvantageous for the crane, low values of dp / dt the generation of a correction signal can be suppressed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The crane has a hydraulically actuated jib system with at least one cylinder (3a,3b) for actuating it, and a device for monitoring the cylinder pressure indicating the crane load. The flow of hydraulic fluid to the cylinder is controlled by varying the cross-section of a valve (11). Depending on the time variation of the cylinder pressure or the load on the piston, a signal is generated that actuates the drive to alter the valve cross-section to reduce the measured pressure or load.

Description

Die Erfindung bezieht sich auf einen Kran mit einem hydraulisch betätigten Auslegersystem, mit mindestens einem Zylinder zur Betätigung des Auslegersystems und einer Einrichtung zur Überwachung des die Belastung des Krans anzeigenden Druckes im Zylinder, wobei der Zufluß von Hydraulikflüssigkeit zum Zylinder durch Veränderung des Querschnitts eines Ventils steuerbar ist.The invention relates to a crane with a hydraulically operated boom system, with at least one cylinder for actuating the boom system and one Device for monitoring the pressure in the crane indicating the load on the crane Cylinder, the flow of hydraulic fluid to the cylinder through change the cross section of a valve is controllable.

Beim Bewegen von Lasten kann es durch die auftretenden Beschleunigungen zu Schwingungen der Trägerstruktur des Kranes bzw. der vom Kran getragenen Last kommen. Beispielsweise kann es zu Schwingungen in vertikaler Richtung kommen, wenn eine Last in vertikaler Richtung bewegt wird, also gehoben oder abgesenkt wird, und diese Bewegung gestoppt wird. Durch solche Schwingungen kommt es zu Belastungsspitzen in der Trägerstruktur des Kranes und/oder zu unkontrollierten Bewegungen der Last.When moving loads, it may be due to the accelerations that occur Vibrations of the support structure of the crane or the load carried by the crane come. For example, vibrations can occur in the vertical direction, when a load is moved in the vertical direction, i.e. raised or lowered, and this movement is stopped. It is through such vibrations Load peaks in the support structure of the crane and / or too uncontrolled Movements of the load.

Das klassische Verfahren zur aktiven Dämpfung unerwünschter Schwingungen ist eine Regelung, bei der die Schwingung durch eine um 180° phasenverschobene, gleichfrequente Schwingung gedämpft wird. Das Verfahren eignet sich gut dazu, das allmähliche Aufschaukeln von Schwingungen, beispielsweise von Pendelbewegungen bewegter Lasten bei Portalkränen (vgl. DE 42 38 795 A1), zu verhindern. Der Zeitaufwand für die Bestimmung von Phase und Frequenz der störenden harmonischen Schwingung ist jedoch relativ groß. Insbesondere werden plötzlich einsetzende Belastungen gerade in ihrer gefährlichen Anfangsphase nicht gemindert.The classic method for actively damping unwanted vibrations is one Regulation in which the oscillation is caused by a 180 ° phase-shifted, equal frequency Vibration is damped. The process works well for the gradual Swinging up of vibrations, for example of pendulum movements to prevent moving loads in portal cranes (cf. DE 42 38 795 A1). The amount of time for the determination of phase and frequency of the disturbing harmonic However, vibration is relatively large. In particular, are suddenly starting Stresses not reduced in their dangerous initial phase.

Beispielsweise in DE 37 19 897 A1 ist demgegenüber vorgeschlagen worden, die bei Ladekränen für Lastfahrzeuge am häufigsten auftretenden dynamischen Überlastungen ursächlich zu bekämpfen. Als Ursache wird dabei die zu rasche Verschiebung des Steuerhebels für den hydraulischen Antrieb eines Kranteiles angesehen. Die große Differenz zwischen Soll- und Istwert der Geschwindigkeit des Kranteiles bzw. von Soll-und Istwert des Venilquerschnittes würde ohne Gegenmaßnahmen eine zu rasche Änderung des Ventilquerschnittes und damit eine zu große Beschleunigung des Kranes bewirken. Gemäß dem bekannten Vorschlag wird daher das Steuersignal gefiltert, die Information über die Stellung des Steuerhebels und damit die gewünschte Endgeschwindigkeit des Kranteiles wird nur verzögert an den Stellmotor zur Veränderung des Ventilquerschnittes weitergegeben. Nachteilig an diesem Verfahren ist vor allem, daß es lediglich Bedienungsfehler korrigiert, die tatsächlichen dynamischen Verhältnisse aber nicht berücksichtigt. Diese sind jedoch nicht nur von der Steuerung, sondern von der jeweiligen Konfiguration des Krans und der Last sowie Umwelteinflüssen (Wind, plötzliche Verringerung oder Vergrößerung der Last) abhängig.In contrast, in DE 37 19 897 A1, for example, it has been proposed that at Loading cranes for trucks most frequently occurring dynamic overloads fight causally. The cause is the too rapid shift of the Control lever viewed for the hydraulic drive of a crane part. The size Difference between the target and actual value of the speed of the crane portion or of the target and The actual value of the Venil cross section would be too rapid without countermeasures Change in the valve cross section and thus an excessive acceleration of the Effect cranes. According to the known proposal, therefore, the control signal filtered, the information about the position of the control lever and thus the desired Final speed of the crane portion is only delayed to the servomotor for change of the valve cross section. This method is disadvantageous all that it only corrects operating errors, the actual dynamic Conditions are not taken into account. However, these are not just from the controller, but of the respective configuration of the crane and the load as well as environmental influences (Wind, sudden decrease or increase in load).

Ziel der Erfindung ist ein Kran, welcher zur Vermeidung dynamischer Überbeanspruchungen mit einer echten und gleichzeitig rasch wirkenden Regelung versehen ist.The aim of the invention is a crane which is used to avoid dynamic overloading is provided with a real and at the same time quick-acting regulation.

Dies wird erfindungsgemäß dadurch erreicht, daß in Abhängigkeit von der im Zylinder festgestellten zeitlichen Änderung des Druckes bzw. der zeitlichen Änderung der Belastung des im Zylinder geführten Kolbens ein Signal erzeugt wird, welches den Antrieb zur Verstellung des Ventilquerschnitts im Sinne einer Verringerung der festgestellten Druck- bzw. Belastungsänderung betätigt.This is achieved according to the invention in that, depending on the in the cylinder detected change in pressure or the change in time of the Load of the piston guided in the cylinder is generated a signal that the Actuator for adjusting the valve cross section in the sense of a reduction in the determined Pressure or load change actuated.

Im Gegensatz zu den bekannten Einrichtungen zur Schwingungsunterdrückung, bei denen zu abrupte Steuersignale gefiltert werden, beruht die erfindungsgemäße Regelung auf der Messung eines Kennwertes für die dynamische Belastung des Krans, wobei direkt am Kran gemessen wird. Es wird also nicht von vorneherein der Kranführer korrigiert, sondern erst dann, wenn dynamische Beanspruchungen auftreten, welche die Trägerstruktur des Krans zu gefährden drohen oder zu unerwünschten Lastbewegungenfühen, durch Bildung eines Signals, welches den Antrieb zur Verstellung des Ventilquerschnitts im Sinne einer Verringerung der festgestellten Druckänderung betätigt, entgegengewirkt. Das Signal ist somit unabhängig von dem durch die Stellung eines Handhebels definierten Sollwert des Ventilquerschnitts.In contrast to the known devices for vibration suppression, at which are too abruptly filtered control signals is based on the invention Regulation on the measurement of a characteristic value for the dynamic load of the Crane, measuring directly on the crane. So it won't be the first Corrected crane operator, but only when dynamic loads occur which threaten to endanger the support structure of the crane or to undesired ones Feel load movements, by forming a signal that drives to adjust the valve cross section in the sense of a reduction in the determined Pressure change actuated, counteracted. The signal is therefore independent of that setpoint of the valve cross section defined by the position of a hand lever.

Eine Regelanordnung, bei der die zeitliche Ableitung des in einem Zylinder gemessenen Druckes herangezogen wird, ist auch in der DE 44 28 691 beschrieben. Im Gegensatz zur Erfindung betrifft diese Regelanordnung jedoch keinen gesteuerten Kran, sondern vollautomatisch arbeitende Maschinen, wie beispielsweise Pressen, Stanz- oder Nibbelmaschinen. Diese arbeiten vorprogrammiert und abgeschirmt von unberechenbaren Umwelteinflüssen und sind lediglich ständig wiederkehrenden unveränderlichen Belastungen ausgesetzt. Die Bewegungsabläufe beim Kran hingegen sind allesamt gesteuert, wobei sich ständig ändernde Belastungsfälle vorliegen, die sich aus der steuernden Einflußnahme des Kranfahrers und den unterschiedlichen zu manipulierenden Lasten ergeben.A control arrangement in which the time derivative of the measured in a cylinder Pressure is used is also described in DE 44 28 691. in the Contrary to the invention, however, this control arrangement does not relate to a controlled one Crane, but fully automatic machines, such as presses, Punching or nibbling machines. These work preprogrammed and shielded from unpredictable environmental influences and are just constantly recurring exposed to constant loads. The movement sequences with the crane, however are all controlled, with constantly changing load cases, which result from the controlling influence of the crane driver and the different result in manipulated loads.

Da die Gefährdung des Krans bei höherer Belastung grundsätzlich größer ist, kann vorzugsweise vorgesehen sein, daß die Stärke des Signals bei höheren Werten des Druckes überproportional steigt.Since the danger to the crane is generally greater at higher loads, it can preferably be provided that the strength of the signal at higher values of Pressure increases disproportionately.

Weitere Einzelheiten der Erfindung werden anschließend anhand der Zeichnungen erläutert. Dabei zeigt:

  • Fig. 1 einen Ladekran für ein Lastfahrzeug,
  • Fig. 2 ein Blockschaltbild einer erfindungsgemäßen Einrichtung zur Schwingungsunterdrückung,
  • Fig. 3 ein Meßprotokoll eines Belastungstests ohne erfindungsgemäße Einrichtung zur Schwingungsunterdrückung und
  • Fig. 4 ein Meßprotokoll eines Belastungstests mit erfindungsgemäßer Einrichtung zur Schwingungsunterdrückung.
    • Further details of the invention are explained below with reference to the drawings. It shows:
  • 1 is a loading crane for a truck,
  • 2 is a block diagram of an inventive device for vibration suppression,
  • 3 shows a measurement protocol of a stress test without a device for vibration suppression according to the invention and
  • Fig. 4 is a measurement protocol of a stress test with the inventive device for vibration suppression.

    • Fig. 1 zeigt einen Ladekran 1 klassischer Bauart für ein Lastfahrzeug. Der Kran 1 weist einen Hauptarm 2 sowie einen mehrfach teleskopierbaren Knickarm 5 auf, an dessen Spitze ein Kranhaken 4 zum Einhängen von Lasten angeordnet ist. Der Hauptarm 2 des Krans 1 wird mittels eines Hubzylinders 3 gegenüber der Säule 6 des Krans 1 verschwenkt.Fig. 1 shows a loading crane 1 of classic design for a truck. The crane 1 points a main arm 2 and a multi-telescopic articulated arm 5, at the tip a crane hook 4 is arranged for hanging loads. The main arm 2 of the crane 1 is pivoted relative to the column 6 of the crane 1 by means of a lifting cylinder 3.

    Da auf den Hubzylinder 3 das gesamte Lastmoment des Krans 1 einwirkt, eignet sich dieser in besonderem Maße für die Anbringung der erfindungsgemäßen Einrichtung zur Schwingungsunterdrückung. Ebenso vorstellbar wäre die Anbringung der erfindungsgemäßen Einrichtung an einem Zylinder, der die Verschwenkung des Kranauslegers um eine vertikale Achse bewirkt.Since the entire load moment of the crane 1 acts on the lifting cylinder 3, this is suitable in particular for the attachment of the device according to the invention Vibration suppression. The attachment of the invention would also be conceivable Device on a cylinder, which allows the crane boom to be swiveled by one vertical axis.

    Fig. 2 zeigt die Details der erfindungsgemäßen Einrichtung, die an einem Zylinder, insbesondere am genannten Hubzylinder 3 angebracht ist. Die Steuerung des Hubzylinders 3 erfolgt über eine handelsübliche Fernsteuerung, die aus einem Sender 9 und einem Empfänger 10 besteht. Steuersignale, die von der Betätigung der Steuerhebel am Sender 9 herrühren, werden über Funk an den Empfänger 10 übertragen, welche wiederum ein Signal an den Schieber 12 weiterleitet. Beim Schieber 12 handelt es sich um ein Mehrfach-Proportionalventil mit Volumenssteuerung, wobei die Antriebe zur Verstellung der Ventilquerschnitte in den Schieber 12 integriert sind. Ein derartiger Schieber ist beispielsweise unter der Bezeichnung PVG 32 bei der Firma Danfoss erhältlich. Je nach Stellung der Ventile im Schieber 12 wird das über die Druckölleitung 13 heranströmende Hydrauliköl in unterschiedlichen Mengen an die Kolbenseite 3a oder die Stangenseite 3b des Hubzylinders 3 weitergeleitet. Auf der Kolbenseite 3a ist dabei ein Lasthalteventil 11 zwischengeschaltet.Fig. 2 shows the details of the device according to the invention, in particular on a cylinder is attached to said lifting cylinder 3. The control of the lifting cylinder 3 takes place via a commercially available remote control, which consists of a transmitter 9 and Receiver 10 exists. Control signals from the actuation of the control lever on the transmitter 9 originate, are transmitted by radio to the receiver 10, which in turn is a signal forwards to the slider 12. The slide 12 is a multiple proportional valve with volume control, the drives for adjusting the valve cross sections are integrated in the slide 12. Such a slide is for example under the designation PVG 32 available from Danfoss. Depending on the position of the valves in the Slider 12 is the hydraulic oil flowing in via the pressure oil line 13 in different Quantities forwarded to the piston side 3a or the rod side 3b of the lifting cylinder 3. A load holding valve 11 is interposed on the piston side 3a.

    Sowohl auf der Kolbenseite 3a sowie auf der Stangenseite 3b befindet sich ein Druckaufnehmer 7. Aus den auf der Kolbenseite 3a und der Stangenseite 3b gemessenen Druckwerten wird unter Einrechnung der Kolben- bzw. Stangenfläche die resultierende Hubkraft errechnet, wobei der errechnete Wert für die Hubkraft an eine Differenziereinheit 8 weitergeleitet wird. Von der Hubkraft, die direkt von den auf der Kolbenseite 3a und der Stangenseite 3b gemessenen Druckwerten abhängt, wird in der Differenziereinheit 8 die erste Ableitung nach der Zeit gebildet, die die im Hubzylinder 3 gemessene Druckänderung widerspiegelt. Die Differenziereinheit 8 liefert ein Ausgangssignal, welches den Antrieb zur Verstellung des Ventilquerschnitts im Sinne einer Verringerung der festgestellten Druckänderung betätigt.There is a pressure transducer both on the piston side 3a and on the rod side 3b 7. From the pressure values measured on the piston side 3a and the rod side 3b the resulting lifting force is calculated taking into account the piston or rod area calculated, the calculated value for the lifting force being forwarded to a differentiating unit 8 becomes. From the lifting force directly from that on the piston side 3a and the rod side 3b measured pressure values, the first is in the differentiating unit 8 Derivation formed after the time that reflects the pressure change measured in the lifting cylinder 3. The differentiating unit 8 supplies an output signal which the drive for adjustment of the valve cross section in the sense of a reduction in the pressure change detected operated.

    Das Ausgangssignal der Differenziereinheit 8 kann mit einem Faktor k(p), der von den gemessenen Druckwerten abhängt, multipliziert werden, womit erreicht wird, daß das Signal bei höheren Druckwerten überproportional steigt. Damit wird der Tatsache Rechnung getragen, daß die Gefährdung der Trägerstrukturen des Krans durch dynamische Belastungen bei einer bereits gegebenen hohen statischen Grundlast besonders groß ist.The output signal of the differentiating unit 8 can with a factor k (p) that of the measured pressure values depends, are multiplied, whereby the signal is achieved increases disproportionately at higher pressure values. This takes account of the fact borne that the risk of the support structures of the crane from dynamic loads is particularly large given a high static base load.

    Das Ausgangssignal der Differenziereinheit 8 wird mit dem die Sollstellung der Ventile im Schieber 12 definierenden Signal, das vom Empfänger 10 weitergeleitet wird, überlagert und dann dem Schieber 12 zugeführt. Praktisch bedeutet diese Überlagerung, daß die Verstellgeschwindigkeit der Ventile im Schieber 12 und damit die Beschleunigung des Kranauslegers verringert wird. Da nur große Beschleunigungen für den Kran nachteilig sind, kann bei geringen Werten von dp/dt die Erzeugung eines Korrektursignals unterdrückt werden.The output signal of the differentiating unit 8 is used to determine the desired position of the valves Slider 12 defining signal, which is forwarded by the receiver 10, superimposed and then fed to the slider 12. In practice, this overlay means that the adjustment speed of the valves in the slide 12 and thus the acceleration of the crane boom is reduced. Since only large accelerations are disadvantageous for the crane, low values of dp / dt the generation of a correction signal can be suppressed.

    In den Figuren 3 und 4 ist die Wirkung der erfindungsgemäßen schwingungsunterdrückenden Sicherheitseinrichtung dokumentiert. Beide Messungen wurden am selben Kran unter identen Belastungsverhältnissen durchgeführt, wobei das Schwingungsverhalten jeweils bei abruptem Anfahren und Stoppen gemessen wurde. Die aus Kolben- und Stangendruck resultierende Zylinderkraft schwingt in Fig. 3 (ohne erfindungsgemäße Schwingungsunterdrückung) während eines Zeitraumes von fast 7 Sekunden mit beträchtlicher Amplitude, wogegen die wesentlich geringeren Schwingungen in Fig. 4 (mit erfindungsgemäßer Schwingungsunterdrückung) bereits nach der Hälfte der Zeit abgeklungen sind.In Figures 3 and 4, the effect of the vibration-suppressing invention Safety device documented. Both measurements were taken on the same crane Identical load conditions carried out, the vibration behavior in each case abrupt start and stop was measured. The piston and rod pressure resulting cylinder force oscillates in Fig. 3 (without vibration suppression according to the invention) over a period of almost 7 seconds with considerable amplitude, whereas the significantly lower vibrations in Fig. 4 (with the inventive Vibration suppression) have subsided after half the time.

    Claims (4)

    1. A crane (1) having a hydraulically actuated jib system (2, 5), at least one cylinder (3) for actuating the jib system (2, 5) and an apparatus for monitoring the pressure in the cylinder (3), which indicates the crane loading, wherein the feed flow of hydraulic fluid to the cylinder (3) is controllable by varying the cross-section of a valve (12) characterised in that a signal is produced in dependence on the variation in pressure in relation to time which is detected in the cylinder (3) or the variation in the loading of the piston guided in the cylinder (3) in relation to time, which signal actuates the drive for adjusting the valve cross-section in a manner to reduce the detected variation in pressure or loading.
    2. A crane as set forth in claim 1 characterised in that the strength of the signal rises overproportionally at higher pressure values.
    3. A crane as set forth in claim 1 characterised in that the signal is independent of the reference position of the valve cross-section, which reference position is defined by the position of a hand lever.
    4. A crane as set forth in one of claims 1 through 3 characterised in that the cylinder is the lift cylinder (3) for the main arm (2) of a loading crane (1) for a goods vehicle.
    EP98116951A 1998-09-08 1998-09-08 Crane Expired - Lifetime EP0985629B1 (en)

    Priority Applications (8)

    Application Number Priority Date Filing Date Title
    ES98116951T ES2158637T3 (en) 1998-09-08 1998-09-08 CRANE.
    DK98116951T DK0985629T3 (en) 1998-09-08 1998-09-08 Crane
    DE59801090T DE59801090D1 (en) 1998-09-08 1998-09-08 crane
    EP98116951A EP0985629B1 (en) 1998-09-08 1998-09-08 Crane
    AT98116951T ATE203488T1 (en) 1998-09-08 1998-09-08 CRANE
    KR10-1999-0035086A KR100392333B1 (en) 1998-09-08 1999-08-24 Crane
    US09/383,404 US6328173B1 (en) 1998-09-08 1999-08-26 Crane
    JP11244878A JP2000191285A (en) 1998-09-08 1999-08-31 Crane

    Applications Claiming Priority (1)

    Application Number Priority Date Filing Date Title
    EP98116951A EP0985629B1 (en) 1998-09-08 1998-09-08 Crane

    Publications (2)

    Publication Number Publication Date
    EP0985629A1 EP0985629A1 (en) 2000-03-15
    EP0985629B1 true EP0985629B1 (en) 2001-07-25

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    EP98116951A Expired - Lifetime EP0985629B1 (en) 1998-09-08 1998-09-08 Crane

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    US (1) US6328173B1 (en)
    EP (1) EP0985629B1 (en)
    JP (1) JP2000191285A (en)
    KR (1) KR100392333B1 (en)
    AT (1) ATE203488T1 (en)
    DE (1) DE59801090D1 (en)
    DK (1) DK0985629T3 (en)
    ES (1) ES2158637T3 (en)

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    Also Published As

    Publication number Publication date
    KR20000022752A (en) 2000-04-25
    KR100392333B1 (en) 2003-07-22
    US6328173B1 (en) 2001-12-11
    ES2158637T3 (en) 2001-09-01
    DE59801090D1 (en) 2001-08-30
    ATE203488T1 (en) 2001-08-15
    JP2000191285A (en) 2000-07-11
    EP0985629A1 (en) 2000-03-15
    DK0985629T3 (en) 2001-09-24

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