EP0985629B1 - Grue - Google Patents

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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
Authority
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
Application number
EP98116951A
Other languages
German (de)
English (en)
Other versions
EP0985629A1 (fr
Inventor
Erich Wimmer
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.)
Palfinger AG
Original Assignee
Palfinger AG
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
Priority to ES98116951T priority Critical patent/ES2158637T3/es
Application filed by Palfinger AG filed Critical Palfinger AG
Priority to DK98116951T priority patent/DK0985629T3/da
Priority to DE59801090T priority patent/DE59801090D1/de
Priority to EP98116951A priority patent/EP0985629B1/fr
Priority to AT98116951T priority patent/ATE203488T1/de
Priority to KR10-1999-0035086A priority patent/KR100392333B1/ko
Priority to US09/383,404 priority patent/US6328173B1/en
Priority to JP11244878A priority patent/JP2000191285A/ja
Publication of EP0985629A1 publication Critical patent/EP0985629A1/fr
Application granted granted Critical
Publication of EP0985629B1 publication Critical patent/EP0985629B1/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
    • 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.

Landscapes

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

Claims (4)

  1. Grue (1) comportant un système de bras en console (2,5) actionné par voie hydraulique et comportant au moins un vérin (3) pour actionner le système de bras en console (2,5) et un dispositif pour contrôler la pression, qui indique la charge de la grue, dans le vérin (3) et dans laquelle l'amenée du liquide hydraulique au vérin (3) est commandable par modification de la section transversale d'une soupape (12), caractérisée en ce qu'un signal est produit en fonction de la variation dans le temps, fixée dans le vérin (3), de la pression ou de la variation dans le temps de la charge du piston guidé dans le vérin (3), signal qui déclenche l'entraínement servant à régler la section transversale de la soupape dans le sens d'une réduction de la variation fixée de la pression ou de la charge.
  2. Grue selon la revendication 1, caractérisée en ce que l'intensité du signal augmente d'une manière plus que proportionnelle pour des valeurs accrues de la pression.
  3. Grue selon la revendication 1, caractérisée en ce que le signal est indépendant de la valeur de consigne, définie par la position d'un levier manuel, de la section transversale de la soupape.
  4. Grue selon l'une des revendications 1-3, caractérisée en ce que le vérin (3) est le vérin de levage pour le bras principal (2) d'une grue de chargement (1) pour un camion.
EP98116951A 1998-09-08 1998-09-08 Grue Expired - Lifetime EP0985629B1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
DK98116951T DK0985629T3 (da) 1998-09-08 1998-09-08 Kran
DE59801090T DE59801090D1 (de) 1998-09-08 1998-09-08 Kran
EP98116951A EP0985629B1 (fr) 1998-09-08 1998-09-08 Grue
AT98116951T ATE203488T1 (de) 1998-09-08 1998-09-08 Kran
ES98116951T ES2158637T3 (es) 1998-09-08 1998-09-08 Grua.
KR10-1999-0035086A KR100392333B1 (ko) 1998-09-08 1999-08-24 크레인
US09/383,404 US6328173B1 (en) 1998-09-08 1999-08-26 Crane
JP11244878A JP2000191285A (ja) 1998-09-08 1999-08-31 クレ―ン

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP98116951A EP0985629B1 (fr) 1998-09-08 1998-09-08 Grue

Publications (2)

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

Family

ID=8232594

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98116951A Expired - Lifetime EP0985629B1 (fr) 1998-09-08 1998-09-08 Grue

Country Status (8)

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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102942115A (zh) * 2012-09-20 2013-02-27 宁波凯荣船用机械有限公司 船用液压回转吊变载控制装置及控制方法

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DE102010010386B4 (de) * 2010-03-05 2014-11-20 Liebherr-Werk Nenzing Gmbh Vorrichtung und Verfahren zur Überwachung eines Kranwippwerkes und Kran
DE102010038218B4 (de) 2010-10-15 2014-02-13 Deutsches Zentrum für Luft- und Raumfahrt e.V. Kran mit einer Struktur, mit mindestens einem an der Struktur angreifenden Aktuator und einer den Aktuator zur Unterdrückung von Schwingungen der Struktur ansteuernden Steuerung
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KR102152148B1 (ko) 2013-05-31 2020-09-04 이턴 코포레이션 카운터-밸런스 보호로 붐 바운스를 감소시키기 위한 유압 시스템 및 방법
EP3039301B1 (fr) 2013-08-30 2018-10-03 Eaton Corporation Procédé et système de commande pour l'utilisation d'une paire de soupapes de dosage à commande hydraulique indépendantes pour réduire des oscillations de flèche
CN105940241B (zh) * 2013-11-14 2018-11-20 伊顿公司 降低动臂振荡的控制策略
CN105849421B (zh) 2013-11-14 2019-01-15 伊顿公司 用于减少动臂跳动的先导控制机构
CN106661894B (zh) 2014-07-15 2019-12-10 伊顿公司 实现悬臂弹跳减少以及防止液压系统中的非指令运动的方法和设备
JP6595198B2 (ja) * 2015-04-08 2019-10-23 古河ユニック株式会社 増速弁装置
EP3615813A4 (fr) 2017-04-28 2021-01-27 Eaton Intelligent Power Limited Système à capteurs de mouvement pour amortir des vibrations induites par la masse dans des machines
EP3615814A4 (fr) 2017-04-28 2021-01-27 Eaton Intelligent Power Limited Système d'amortissement de vibrations induites par la masse dans des machines ayant des bras ou des éléments allongés à commande hydraulique
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WO2021142826A1 (fr) * 2020-01-19 2021-07-22 徐工集团工程机械股份有限公司 Procédé pour contrôler la vibration d'une flèche, dispositif et machine d'ingénierie

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102942115A (zh) * 2012-09-20 2013-02-27 宁波凯荣船用机械有限公司 船用液压回转吊变载控制装置及控制方法
CN102942115B (zh) * 2012-09-20 2014-07-23 宁波凯荣船用机械有限公司 船用液压回转吊变载控制装置及控制方法

Also Published As

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

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