EP1149796A2 - Control device for tower cranes - Google Patents

Abstract

Device comprises an electronic control device (2) that receives a control signal (4) from a radio control device (3). In addition it receives signals (5, 7, 9, 13, 15, 17, 19, 21) from sensors (6, 8, 11, 18, 20, 22-24) and switches (14, 16). Dependent on these inputs, stop and go commands (27, 30-34) are output to control speed varying devices (28) or other controllers (35, 36) to control movements as well as security devices (32).

Description

The present invention relates to a control-command device for tower cranes, especially for small cranes, with integration of a set of functions, and suitable for radio control.

In the field of radio controlled variator mechanisms gear, for tower cranes, there are radio control systems composed of a transmitting unit, incorporated into the control station used by the crane operator, and a receiving unit located in the electrical cabinet of crane control, the receiving unit usually being connected to the connector of a conventional cable remote control. We also know, in this area, redundancy security management systems identical circuits or by redundancy with diversity, based on circuits can be electromechanical or electronic.

However, there are currently no devices grouping and combining, in the same unit, the function of radio control and command control function, performed to date by relaying, as well as certain specific functions such as: crane assembly commands, in particular automated assembly; emergency controls for mounting and working the crane; control the action of safety devices; anti-tip safety crane; wind speed sensors.

In particular, the aforementioned functions do not usually exist not for small cranes, which are the area of application principal of the present invention, the cost of these functions, separate the each other, being considered too high compared to the overall price of the crane.

The present invention therefore aims to bring the cost of these functions, by their integration, at a level acceptable for small cranes, so as to bring them significant technological progress, their conferring technicality, a variety of functions and security comparable to those of larger cranes for an affordable price.

a) le traitement des aspects de sécurité de la grue tels que :

• Utilisation active des signaux d'un anénomètre et d'un inclinomètre,
• Contrôle de la retombée du frein sous l'action de dispositifs de sécurité,
• Commande à distance de la mise en girouette,
• Utilisation de capteurs potentiométriques ou à jauges de contrainte, permettant leur contrôle permanent ;

b) le traitement de la fiabilité du système de commande en réduisant le nombre de composants et de connexions et en personnalisant la commande, par exemple :

• Suppression des automates programmables,
• Suppression de relayages ou d'interfaces entre systèmes,
• Suppression de certains câbles, par exemple, le câble de liaison entre grue et télécommande,
• Réduction du nombre de connexions débrochables,
• Réduction du nombre de capteurs,
• Adaptation de la grue à ses conditions d'exploitation, en particulier à son environnement électrique, climatique et mécanique ;

c) l'amélioration de la maintenabilité de la grue par :

• des aides à la conduite, à la maintenance, au montage et à l'exploitation,
• l'adaptation à des évolutions de l'environnement ou à des progrès de la technologie,
• l'interrogation à distance des évènements d'exploitation.

More particularly, the object of the invention is to improve the operating safety of such cranes, in particular by simplifying the control circuits linked to the integration of the functions in a single electronic unit, with in particular:

a) the handling of safety aspects of the crane such as:

• Active use of signals from an anemometer and an inclinometer,
• Control of the brake application under the action of safety devices,
• Remote control of the wind vane,
• Use of potentiometric sensors or strain gauges, allowing their permanent control;

b) handling the reliability of the control system by reducing the number of components and connections and by customizing the control, for example:

• Removal of programmable controllers,
• Elimination of relaying or interfaces between systems,
• Removal of certain cables, for example, the connection cable between crane and remote control,
• Reduction in the number of withdrawable connections,
• Reduction in the number of sensors,
• Adaptation of the crane to its operating conditions, in particular to its electrical, climatic and mechanical environment;

c) improving the maintainability of the crane by:

• assistance with driving, maintenance, assembly and operation,
• adapting to changes in the environment or to advances in technology,
• remote interrogation of operating events.

To this end, the invention essentially relates to a device control command which includes, for all movements of the crane such as lifting, rotation, distribution and translation, one unit control electronics receiving at its inputs and processing the control signal from the radio control unit, as well as signals from sensors and switches, and delivering to its outputs from start and stop orders, controlling the action of variable speed drives or other control devices assigned to movements, as well as the action of the crane safety devices.

The electronic control unit receives and processes including signals from position sensors and load, a signal from a brake status feedback sensor associated with each movement of the crane, a signal from a horizontal sensor of part of the crane, inclinometer type, and a signal from an anemometer. The electronic control and command unit can still receive and process signals from a normal / emergency switch.

Regarding the output signals, the electronic control unit control-command issues in particular a start or stop order controlled at variable speed drives, an instant stop order sent to same variable speed drives, and a signal directed to an actuator of general shutdown.

In an advantageous embodiment, the electronic unit of control-command receives and still processes signals from a normal run / mount switch, as well as signals related to configuration of the crane being assembled, and it includes a sequencer receiving these signals and delivering control signals actuators, such as cylinders, for folding and unfolding the crane in one continuous sequence.

The electronic control unit can also deliver, by radio, information corresponding to the input signals processed, information which is transmitted to driving assistance means, especially in the form of an indicator placed on the housing radio control.

The same electronic control unit can still issue a crane vane signal, from a signal wind vane command issued by the radio control unit.

• un décodeur et un encodeur servant d'interfaces pour la liaison radio bidirectionnelle avec le boítier de radiocommande,
• les contacts des commutateurs marche normale/secours et travail/montage,
• un comparateur, notamment un comparateur multiplicateur à seuils, recevant et traitant les signaux en provenance des capteurs de position et de charge,
• un comparateur, notamment un comparateur filtre à seuil fixe, recevant et traitant le signal en provenance du capteur d'horizontalité,
• un comparateur, notamment un comparateur filtre à seuils réglables, recevant et traitant le signal en provenance de l'anémomètre,
• un circuit de temporisation, recevant le signal en provenance du capteur de recopie de l'état du frein, et ayant sa sortie reliée à l'actionneur de coupure générale,
• le séquenceur précité, délivrant les signaux de commande des actionneurs pour le pliage-dépliage de la grue,
• un circuit logique, émettant l'ordre de marche ou d'arrêt contrôlé envoyé au variateur de vitesse en fonction de la position du commutateur travail/montage et des signaux de sortie des comparateurs qui reçoivent les signaux du capteur d'horizontalité et de l'anénométre.

With regard to the internal structure of the electronic control-command unit, this comprises, in a particular embodiment:

• a decoder and an encoder serving as interfaces for the two-way radio link with the radio control unit,
• the contacts for the normal / emergency and work / assembly switches,
• a comparator, in particular a threshold multiplier comparator, receiving and processing the signals coming from the position and load sensors,
• a comparator, in particular a fixed threshold filter comparator, receiving and processing the signal from the horizontality sensor,
• a comparator, in particular a filter comparator with adjustable thresholds, receiving and processing the signal from the anemometer,
• a delay circuit, receiving the signal from the brake status feedback sensor, and having its output connected to the general cut-off actuator,
• the aforementioned sequencer, delivering the actuator control signals for folding and unfolding the crane,
• a logic circuit, issuing the controlled on or off command sent to the variable speed drive as a function of the position of the work / assembly switch and of the output signals of the comparators which receive the signals from the horizontal sensor and the anenometer.

Preferably, the electronic control unit also includes at least one data and program memory, which receives, processes and stores position, load, inclinometer signals and the anemometer, as well as a copy of the state of the brake, the memories can be queried from terminals, such as terminal operator or remote terminal.

The device according to the invention can also perform an action zone limitation, using threshold comparator-multiplier receiving and processing signals from position sensors, and according to the parameters in memory, with issuance of a stop command immediate directed to the drive.

Finally, the electronic unit may include an input for the downloading update information from a terminal at distance, to the memory (s).

The invention will in any case be better understood using the description which follows, with reference to the single figure of the schematic drawing attached representing, by way of nonlimiting example, an embodiment of this command control device for tower cranes.

The device, represented in the form of a block diagram, mainly includes an electronic control unit, designated as a whole by the reference 2, operating on the basis of low level electrical signals, particularly in connection with a box radio control 3 and with various sensors.

• des signaux analogiques 5 en provenance de capteurs de position, désignés globalement par 6, en particulier des capteurs potentiométriques ;
• un signal 7 en provenance d'un capteur de charge 8, en particulier un capteur à jauges de contrainte ;
• un signal 9 de recopie de l'état (freinage ou débrayage) du frein 10, en provenance d'un capteur 11 situé par exemple au niveau du frein 10, qui est un frein électromécanique à manque de courant ;
• un signal 13 en provenance d'un commutateur travail/montage 14 ;
• un signal 15 en provenance d'un commutateur marche normale/secours 16, utilisable tant pour le travail que pour le montage de la grue ;
• un signal 17 en provenance d'un capteur 18 d'horizontalité du châssis de la grue (inclinomètre) ;
• un signal 19 en provenance d'un anémomètre 20 ;
• des signaux 21 liés à la configuration de la grue en cours de montage, et issus par exemple de capteurs 23, 24 de dépliage du mât et de position de dépliage de la flèche (par exemple selon un angle donné, tel que 20°) ;
• des informations 25 de mise à jour de valeurs des circuits internes de l'unité électronique 2, à partir d'un terminal 26 situé à distance. L'unité électronique 2 délivre, à ses sorties, divers signaux qui sont :
• un ordre de marche ou d'arrêt contrôlé 27, envoyé à un variateur de vitesse 28 qui commande le moteur électrique 29 auquel est associé le frein 10 précité ;
• un ordre d'arrêt immédiat 30 envoyé au variateur de vitesse 28;
• un signal 31 dirigé vers un actionneur de coupure générale 32;
• des signaux de commande 33, 34 dirigés vers des électrovannes 35, 36 qui, elles-mêmes, commandent des vérins de pliage-dépliage, respectivement de la flèche et du mât de la grue ;
• des informations 37 transmises par radio vers des dispositifs d'aide à la conduite de la grue, prenant notamment la forme d'un indicateur 38 placé sur le boítier de la radiocommande 3 ;
• un signal de commande de mise en girouette 61 ;
• d'autres informations 39 dirigées vers des dispositifs d'aide à la maintenance, d'aide au montage et d'aide à l'exploitation, situées au niveau d'un terminal d'opérateur 40.

The electronic unit 2 thus receives, at its inputs, a control signal 4 coming from the radio remote control unit 3, and also:

• analog signals 5 coming from position sensors, generally designated by 6, in particular potentiometric sensors;
• a signal 7 from a load sensor 8, in particular a strain gauge sensor;
• a signal 9 for copying the state (braking or disengaging) of the brake 10, coming from a sensor 11 situated for example at the level of the brake 10, which is an electromechanical brake with lack of current;
• a signal 13 from a work / assembly switch 14;
• a signal 15 from a normal / emergency switch 16, usable both for work and for mounting the crane;
• a signal 17 from a horizontality sensor 18 of the crane chassis (inclinometer);
• a signal 19 from an anemometer 20;
• signals 21 linked to the configuration of the crane during assembly, and coming for example from sensors 23, 24 for unfolding the mast and for unfolding the boom (for example at a given angle, such as 20 °);
• information 25 for updating the values of the internal circuits of the electronic unit 2, from a remote terminal 26. The electronic unit 2 delivers, at its outputs, various signals which are:
• a controlled start or stop command 27, sent to a variable speed drive 28 which controls the electric motor 29 with which the aforementioned brake 10 is associated;
• an immediate stop command 30 sent to the speed controller 28;
• a signal 31 directed to a general cut-off actuator 32;
• control signals 33, 34 directed to solenoid valves 35, 36 which, themselves, control folding-unfolding cylinders, respectively of the jib and of the crane mast;
• information 37 transmitted by radio to devices for assisting the operation of the crane, taking in particular the form of an indicator 38 placed on the case of the radio control 3;
• a wind vane control signal 61;
• other information 39 directed to maintenance assistance, assembly assistance and operating assistance devices, located at an operator terminal 40.

• les contacts inverseurs respectifs 41 et 42 du commutateur travail/montage 14 et du commutateur marche normale/secours 16 ;
• un décodeur 43 et un encodeur 44, entrées servant d'interfaces pour la liaison radio avec l'émetteur du boítier de radiocommande 3 ;
• un comparateur-multiplicateur à seuils 45, recevant les signaux 5 et 7 provenant respectivement des capteurs de position 6 et du capteur de charge 8 ;
• un circuit de temporisation 46 dont les entrées sont reliées au comparateur 45 et au capteur 11 de recopie de l'état du frein 10, et dont la sortie est reliée à l'actionneur de coupure générale 32 ;
• un comparateur-filtre à seuil fixe 47, recevant le signal 17 de l'inclinomètre 18 ;
• un comparateur-filtre à seuils réglables 48 , recevant le signal 19 de l'anémomètre 20 ;
• un séquenceur 49, recevant à ses entrées les signaux 21 liés à la configuration de la grue, et émettant à ses sorties les signaux de commande 33, 34 des électrovannes 35, 36 ;
• une porte logique « ET » 50, à trois entrées (précisées ci-après), dont la sortie délivre l'ordre de marche ou d'arrêt contrôlé 27 envoyé au variateur de vitesse 28 ;
• une liaison 51 entre les deux contacts inverseurs 41 et 42, ainsi qu'avec le décodeur 43 ;
• une liaison 52 entre le contact inverseur 41 et le séquenceur 49;
• une liaison 53 entre le contact inverseur 41 et une entrée de la porte « ET » 50 ;
• une liaison 54 entre le comparateur 47 et une autre entrée de la porte « ET » 50 ;
• une liaison 55 entre le comparateur 48 et la dernière entrée de la porte « ET » 44 ;
• une liaison 56 entre le comparateur 45 et le variateur de vitesse 28, pour la transmission de l'ordre d'arrêt immédiat 30;
• une dernière liaison 57 entre le contact inverseur 42 et une commande de marche de secours 58, à bouton-poussoir ;
• une mémoire de données 59 ;
• une mémoire de programmes 60.

The electronic unit 2 itself processes the signals, both for their reception and for their emission, and it also records events which may be the operating cycles of the crane itself or external events. To this end, the electronic unit 2 comprises in particular:

• the respective change-over contacts 41 and 42 of the work / assembly switch 14 and of the normal / standby switch 16;
• a decoder 43 and an encoder 44, inputs serving as interfaces for the radio link with the transmitter of the radio control unit 3;
• a threshold comparator-multiplier 45, receiving the signals 5 and 7 respectively from the position sensors 6 and the load sensor 8;
• a timing circuit 46, the inputs of which are connected to comparator 45 and to the sensor 11 for reproducing the state of the brake 10, and the output of which is connected to the general cut-off actuator 32;
• a fixed threshold comparator-filter 47, receiving the signal 17 from the inclinometer 18;
• a comparator-filter with adjustable thresholds 48, receiving the signal 19 from the anemometer 20;
• a sequencer 49, receiving at its inputs the signals 21 linked to the configuration of the crane, and transmitting at its outputs the control signals 33, 34 of the solenoid valves 35, 36;
• an “AND” logic gate 50, with three inputs (specified below), the output of which delivers the controlled on or off order 27 sent to the variable speed drive 28;
• a link 51 between the two reversing contacts 41 and 42, as well as with the decoder 43;
• a link 52 between the reversing contact 41 and the sequencer 49;
• a link 53 between the reversing contact 41 and an input of the “AND” door 50;
• a link 54 between the comparator 47 and another input of the “AND” gate 50;
• a link 55 between the comparator 48 and the last input of the “AND” gate 44;
• a link 56 between the comparator 45 and the speed controller 28, for the transmission of the immediate stop order 30;
• a last link 57 between the reversing contact 42 and an emergency operation command 58, with a push button;
• a data memory 59;
• a program memory 60.

Each movement of the crane, such as: lifting, rotation, distribution or translation, has parts of a control unit 2 similar to that described above, the example here detailed more particularly concerning the lifting movement.

The operation of the device described above is established as follows, for the various functions integrated into this device:

Movement control by radio control 3:

The radio remote control 3 transmits a radio signal 4, which is received by the device and transformed, by the decoder 43, into a running order 27 transmitted via the "AND" gate 50 to the speed controller 28, which powers the motor 29 and the brake 10. The motor 29 drives the corresponding mechanism (for example for the lifting movement), and one of the position sensors 6, according to the controlled movement, delivers the signal 5.

Motion stop command:

The signal 4, emitted by the radio control 3, is deleted. In consequence, the speed controller 28 no longer receives a run command 22, which generates a controlled movement stop, the variator 28 ceasing to supply the motor 29 and the brake 10 which, being a lack brake current, then blocks the movement.

Action of a motion or load limiter:

• le variateur 28 cesse d'alimenter le moteur 29 et le frein 10 ;
• le capteur 11 délivre le signal 9 de recopie de l'état du frein 10;
• normalement, ce signal 9 arrête le circuit de temporisation 46, avant écoulement complet du temps réglé pour ce circuit 46;
• en l'absence du signal 9, et si le temps réglé pour le circuit 46 est écoulé, ce circuit 46 émet le signal 31, dirigé vers l'actionneur de coupure générale 32, qui provoque alors l'arrêt général de la grue.

The signal 5 or 7, coming from a position sensor 6 or from the load sensor 8, attacks the threshold comparator-multiplier 45 which generates, when the threshold is reached, an immediate stop command 30 sent to the variator 28 and , simultaneously, starts the timer circuit 46. Consequently:

• the variator 28 stops supplying the motor 29 and the brake 10;
• the sensor 11 delivers the signal 9 for copying the state of the brake 10;
• normally, this signal 9 stops the timing circuit 46, before the time set for this circuit 46 has elapsed completely;
• in the absence of signal 9, and if the time set for circuit 46 has elapsed, this circuit 46 emits signal 31, directed towards the general cut-out actuator 32, which then causes the general stop of the crane.

Emergency operation control:

The operator switches switch 16 to its position emergency march, which has the effect of making the emergency operation command 58, and to make signal 4 inoperative by from the radio remote control unit 3. We then use the command emergency step 58, by pressing its push button. The signal issued by this emergency run command 58 is transmitted by through the “AND” gate 50, and generates a run command 27 for the variator 28. The operation is then carried out in a similar manner to the normal operation, explained at the beginning of this description of operation.

Assembly commands:

The work / assembly switch 14 is toggled, by the operator, in the mounting position, which has the effect of directing the signal command 4, from radio control 3, or the signal from emergency run command 58, to sequencer 49.

The sequencer 49 respectively controls the solenoid valves 35, 36 for folding and unfolding the boom and mast, by the signals 33, 34, this alternately depending on the signals 21 which represent the position boom and mast. Folding or unfolding is thus carried out in one continuous sequence.

Weather vane:

By pressing a button on the radio control unit 3, the operator sends a particular control signal received by the decoder 43, which then transmits the wind vane signal 61, causing the action of the crane weather vane device 62.

Actions controlled from the inclinometer and the anemometer:

The signal 17 from the inclinometer 18 attacks the comparator-filter with fixed threshold 47. The signal 19 from the anemometer 20 attacks the comparator - filter with adjustable thresholds 48. The output signals of these two comparators 47 and 48 are received at the corresponding inputs of the “AND” door 50, which authorizes the controlled start or stop order 27 sent to the speed controller 28, or inhibits this command in the event of tilting excessive crane or too strong wind.

"Zone limitation" action:

The position sensors 6 deliver the signals 5 which attack the comparator - threshold multiplier 45. This comparator 45 delivers, in function of the parameters in memory, the immediate stop order 30 directed to the drive 28.

Driving assistance function:

The signals 5 and 7, respectively of position and load, are received and processed by the encoder 44, which transmits the information 37 by radio to the indicator 38 on the radio control unit 3.

Operation and maintenance assistance function:

The position 5, charge 7 and feedback 9 signals of the state of the brake 10 and anemometer 19 are also received, processed and stored in the data memory 59 and program memory 60, which can be interrogated via operator terminal 40 or terminal remote 26.

Updating programs:

The signal 25, coming from the remote terminal 26, makes it possible to set update the data memory 59 and the program memory 60.

It goes without saying that the invention is not limited to the single form execution of this control control device for tower cranes which has been described above, by way of example; on the contrary, it embraces all variants of implementation and application respecting the same principle. In particular, the various functions described above are not not necessarily all together, and can be grouped according to all combinations.

Claims (11)

Control control device for tower cranes, in particular for small cranes, with integration of functions, and suitable for a radio control, characterized in that it comprises, for all the movements of the crane, such as lifting, rotation, distribution and translation, an electronic control-command unit (2) receiving at its inputs and processing the control signal (4) coming from the radio control box (3), as well as signals (5, 7, 9, 13, 15, 17, 19, 21) coming from sensors (6, 8, 11, 18, 20, 22, 23, 24) and switches (14, 16), and issuing operating orders at its outputs and stop (27, 30, 31, 33, 34), by controlling the action of the variable speed drives (28) or other control members (35, 36) assigned to the movements, as well as the action of the safety devices (32) of the crane. Device according to claim 1, characterized in that the electronic control-command unit (2) receives and processes signals (5, 7) from position (6) and load (8) sensors, a signal ( 9) coming from a feedback sensor (11) of the state of the brake (10) associated with each movement of the crane, a signal (17) coming from a horizontal sensor (18) of a part of the crane, of the inclinometer type, and a signal (19) from an anemometer (20). Device according to claim 1 or 2, characterized in that the electronic control-command unit (2) receives and processes signals (15) coming from a normal / emergency switch (16). Device according to any one of Claims 1 to 3, characterized in that the electronic control-command unit (2) issues a controlled start or stop order (27) to the variable speed drives (28), an order instantaneous stop (30) sent to the same variable speed drives (28), and a signal (31) directed to a general cut-off actuator (32). Device according to any one of Claims 1 to 4, characterized in that the electronic control-command unit (2) receives and processes signals (13) from a normal operation / assembly switch (14), as well that signals (21) related to the configuration of the crane being erected, and comprises a sequencer (49) receiving these signals (13, 21) and delivering signals (33, 34) for actuator control, such as cylinders, for folding and unfolding the crane in a continuous sequence. Device according to any one of Claims 1 to 5, characterized in that the electronic control-command unit (2) delivers, by radio, information (37) corresponding to the input signals processed, information which is transmitted to driving assistance means, in particular in the form of an indicator (38) placed on the radio control unit (3). Device according to any one of claims 1 to 6, characterized in that the electronic control-command unit (2) delivers a wind vane signal (61) from the crane, from a command signal wind vane issued by the radio control unit (3). Device according to all of claims 1 to 7, characterized in that the electronic control-command unit (2) comprises: a decoder (43) and an encoder (44) serving as interfaces for the two-way radio link with the radio control unit (3), the contacts (15, 13) of the normal / emergency (16) and work / assembly (14) switches, a comparator (45), in particular a threshold multiplier comparator, receiving and processing the signals (5, 7) coming from the position (6) and load (8) sensors, a comparator (47), in particular a fixed threshold filter comparator, receiving and processing the signal (18) coming from the horizontality sensor (17), a comparator (48), in particular a filter comparator with adjustable thresholds, receiving and processing the signal (19) coming from the anemometer (20), a delay circuit (46), receiving the signal (9) from the feedback sensor (11) of the brake state (10), and having its output connected to the general cut-out actuator (32), the aforementioned sequencer (49), delivering the actuator control signals for folding and unfolding the crane, a logic circuit (50), transmitting the controlled on or off command (27) sent to the variable speed drive (28) as a function of the position of the work / assembly switch (14) and of the output signals of the comparators ( 47, 48) which receive the signals (17, 19) from the horizontality sensor (18) and from the anemometer (20). Device according to claim 8, characterized in that the electronic control-command unit (2) further comprises at least one data and program memory (59, 60), which receives, processes and stores the position signals (5 ), load (7), inclinometer (17) and anenometer (19), as well as copy (9) of the brake state (10), the memory (s) (59, 60) can be queried from terminals, such as operator terminal (40) or remote terminal (26). Device according to claim 9, characterized in that it performs an area limiting action, by means of the threshold comparator-multiplier (45) receiving and processing the signals (7) coming from the position sensors (6), and depending on the parameters in memory, with an immediate stop command (30) sent to the drive (28). Device according to claim 9 or 10, characterized in that the electronic unit (2) comprises an input for downloading update information (25) from a remote terminal (26), to the or the memories (59, 60).

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