EP1149796B1 - Control device for tower cranes - Google Patents

Description

The present invention relates to tower cranes, in particular small cranes, with a control device, with integration a set of functions, adapted for a radio remote control.

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

US-A-3774217 gives an example of apparatus, such as a crane, with radio control, with a transmitting unit or housing of radio control, and with a receiving unit, the latter processing the signal received from the transmitting unit and thereby controlling the motion actuators of the device, such as crane. This document concerns a control system in an open loop, without sensors or feedback to the receiver unit, so that a visual check by the operator is necessary.

JP-A-04298488 (Patent Abstracts of Japan) shows another example of a tower crane with a radio remote control, having a sending part and a receiving part.

EP-A-0364994, which serves as a basis for the preamble of the claim 1 relates to a tower crane without radio control, with a command control device comprising, for all of the crane movements, such as lifting, rotating, dispensing, and possibly the translation, an electronic control-command unit, which receives at its inputs the control signal, and which processes this signal; said electronic control unit also receives and processes signals in from sensors and switches, and delivers to its outputs start and stop orders. In particular, this unit controls the action of variable speed drives or other control devices assigned to movements of the crane, as well as the action of crane safety devices. All the functions are thus integrated in the same electronic unit of Remote control. However, this document does not allow adaptation to a radio control.

Thus, currently, there are no devices grouping and combining, in a single unit, the radio control function and the function order processing, carried out to date by relaying, as well as certain special functions such as: crane mounting controls, including automated editing; emergency controls for mounting and the work of the crane; control of the action of safety devices; security anti-rollover of the crane; wind speed sensors.

In particular, the above functions do not usually exist for small cranes, which are the main application area of the the present invention, the cost of these functions, separated from 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, to a level acceptable for small cranes, so to bring them significant technological progress, conferring them a technicality, a diversity of functions and a safety comparable to those of bigger 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 operational safety of such cranes, in particular by simplifying the control circuits related to the integration of the functions in a single electronic unit, notably with:

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

• Active use of signals from anometers and inclinometers
• Check of the fallout of the brake under the action of safety devices,
• Remote control of the wind vane
• Use of potentiometric or strain gage sensors, allowing their permanent control;

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

• Deleting PLCs,
• Deleting relays or interfaces between systems,
• Removal of certain cables, for example, the connecting cable between crane and remote control,
• Reduction of the number of withdrawable connections,
• Reduction of 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:

• aids for driving, maintenance, assembly and operation,
• adaptation to environmental changes or advances in technology,
• remote interrogation of the operating events.

For this purpose, the invention essentially relates to a tower crane, in particular a small crane, with a control device such as as indicated in the introduction, the control control device comprising, for all the movements of the crane such as lifting, rotating, distribution and translation, an electronic control-command unit receiving at its inputs and processing a command signal, the electronic unit control system also receiving and processing signals from sensors and switches, and delivering to its outputs on and off, controlling the action of variable speed drives or other control organs assigned to movements, as well as the action of safety devices of the crane, this crane being characterized in that the control control device is adapted for a radio control, the electronic control-command unit comprising for this purpose a decoder and an encoder serving as interfaces for a bidirectional radio link with a radio control box, and in that this electronic unit of control-command also includes means that receive and process signals from position sensors and load, a signal coming from a feedback sensor of the state of the brake associated with each movement of the crane, a signal coming from a horizontality sensor of a part of the crane, of the inclinometer type, and a signal from an anomometer. The electronic control-command unit can still be a means of receiving and dealing with signals from a normal / emergency switch.

With regard to the output signals, the electronic unit of control-command is provided in particular to deliver a running order or controlled shutdown to variable speed drives, an instant stop command sent to the same variable speed drives, and a signal directed to an actuator general cut.

In an advantageous embodiment, the electronic unit of control-command is still planned to receive and process signals in from a normal operation / mounting switch, as well as signals related to the configuration of the crane being assembled, and it includes a sequencer receiving these signals and delivering control of actuators, such as cylinders, for folding-unfolding the crane into a sequence continues.

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

The same electronic control unit can still delivering a crane wind signal from a traffic signal control vane issued by the radio control housing.

• 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, the latter comprises, in a particular embodiment:

• switch contacts normal / emergency and work / assembly,
• 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 coming from the horizontality sensor,
• a comparator, in particular a filter comparator with adjustable thresholds, receiving and processing the signal coming from the anemometer,
• a delay circuit, receiving the signal from the feedback sensor of the state of the brake, and having its output connected to the general breaking actuator,
• the aforesaid sequencer, delivering the control signals of the actuators for folding-unfolding the crane,
• a logic circuit, transmitting the controlled start or stop command sent to the variable speed drive according to the position of the work / assembly switch and the output signals of the comparators which receive the signals of the horizontality sensor and the anemometer.

Preferably, the electronic control-command unit still 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 that can be interrogated from terminals, such as terminal operator or remote terminal.

The device according to the invention can still perform an action Zone Limiting Using the Threshold Comparator-Multiplier receiving and processing the signals from the position sensors, and according to the parameters in memory, with the issuance of a stop command immediately directed to the drive.

Finally, the electronic unit may include an entry for the downloading update information from a terminal to distance, to the memory or memories.

In any case, the invention will be better understood by means of the description which follows, with reference to the single figure of the schematic drawing annexed representative, by way of non-limiting example, a form of execution of this control device for tower cranes.

The device, represented in the form of a block diagram, mainly includes an electronic control unit, referred to as a whole by the number 2, operating on the basis of low level electrical signals, particularly in connection with a housing 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.

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

• analog signals from position sensors, generally denoted 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 located for example at the brake 10, which is an electromechanical brake with no 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 frame (inclinometer);
• a signal 19 from an anemometer 20;
• signals 21 related to the configuration of the crane during assembly, and for example from sensors 23, 24 for unfolding the mast and unfolding position of the boom (for example at a given angle, such as 20 °);
• information updating values of the internal circuits of the electronic unit 2, from a terminal 26 located remotely.

• 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 delivers, at its outputs, various signals that are:

• a controlled start or stop command 27, sent to a variable speed drive 28 which controls the electric motor 29 with which said brake 10 is associated;
• an immediate stop command 30 sent to the variable speed drive 28;
• a signal 31 directed to a general breaking actuator 32;
• control signals 33, 34 directed towards solenoid valves 35, 36 which, themselves, control folding-unfolding jacks, respectively of the boom and the mast of the crane;
• information 37 transmitted by radio to devices for assisting the driving of the crane, in particular taking the form of an indicator 38 placed on the housing of the radio remote control 3;
• a windowing control signal 61;
• other information 39 directed to devices for maintenance assistance, editing assistance and operating assistance, 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 transmission, and it also records events that can be the cycles of operation of the crane itself or external events. For this purpose, the electronic unit 2 comprises in particular:

• the respective inverter contacts 41 and 42 of the work / assembly switch 14 and the normal / emergency switch 16;
• a decoder 43 and an encoder 44, inputs serving as interfaces for the radio link with the transmitter of the radio control box 3;
• a threshold comparator-multiplier 45, receiving the signals 5 and 7 respectively from the position sensors 6 and the load sensor 8;
• a delay circuit 46 whose inputs are connected to the comparator 45 and the sensor 11 for copying the state of the brake 10, and whose output is connected to the general breaking actuator 32;
• a fixed threshold filter comparator 47, receiving the signal 17 of the inclinometer 18;
• a filter comparator with adjustable thresholds 48, receiving the signal 19 from the anemometer 20;
• a sequencer 49, receiving at its inputs the signals 21 related to the configuration of the crane, and emitting 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 start or stop command 27 sent to the variable speed drive 28;
• a link 51 between the two inverter contacts 41 and 42, as well as with the decoder 43;
• a link 52 between the changeover contact 41 and the sequencer 49;
• a link 53 between the changeover contact 41 and an input of the "AND" gate 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 variable speed drive 28, for the transmission of the immediate stop command 30;
• a last link 57 between the changeover contact 42 and a push-button emergency operation 58;
• a data memory 59;
• a program memory 60.

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

Commande d'un mouvement par la radiocommande 3 : La radiocommande 3 émet un signal radio 4, qui est reçu par le dispositif et transformé, par le décodeur 43, en un ordre de marche 27 transmis par l'intermédiaire de la porte « ET » 50 au variateur de vitesse 28, qui alimente le moteur 29 et le frein 10. Le moteur 29 entraíne le mécanisme correspondant (par exemple pour le mouvement de levage), et l'un des capteurs de position 6, selon le mouvement commandé, délivre le signal 5.

Commande de l'arrêt du mouvement : Le signal 4, émis par la radiocommande 3, est supprimé. En conséquence, le variateur de vitesse 28 ne reçoit plus d'ordre de marche 22, ce qui engendre un arrêt contrôlé du mouvement, le variateur 28 cessant d'alimenter le moteur 29 et le frein 10 qui, étant un frein à manque de courant, bloque alors le mouvement.

Action d'un limiteur de mouvement ou de charge : Le signal 5 ou 7, provenant d'un capteur de position 6 ou du capteur de charge 8, attaque le comparateur-multiplicateur à seuils 45 qui engendre, lorsque le seuil est atteint, un ordre d'arrêt immédiat 30 envoyé au variateur 28 et, simultanément, met en marche le circuit temporisateur 46. En conséquence :

• 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.

Commande de la marche de secours : L'opérateur bascule le commutateur 16 dans sa position de marche de secours, ce qui a pour effet de rendre opérationnelle la commande de marche de secours 58, et de rendre inopérant le signal 4 en provenance du boítier de la radiocommande 3. On utilise alors la commande de marche de secours 58, par action sur son bouton-poussoir. Le signal émis par cette commande de marche de secours 58 est transmis par l'intermédiaire de la porte « ET » 50, et génère un ordre de marche 27 pour le variateur 28. Le fonctionnement s'effectue alors de manière analogue au fonctionnement normal, expliqué au début de la présente description de fonctionnement.

Commandes de montage : Le commutateur travail/montage 14 est basculé, par l'opérateur, en position de montage, ce qui a pour effet d'orienter le signal de commande 4, en provenance de la radiocommande 3, ou le signal issu de la commande de marche de secours 58, vers le séquenceur 49.Le séquenceur 49 commande respectivement les électrovannes 35, 36 de pliage-dépliage de la flèche et du mât, par les signaux 33, 34, ceci alternativement en fonction des signaux 21 qui représentent la position de la flèche et du mât. Le pliage ou dépliage s'effectue ainsi en une séquence continue.

Mise en girouette : En appuyant sur un bouton du boítier de la radiocommande 3, l'opérateur envoie un signal de commande particulier reçu par le décodeur 43, qui émet alors le signal de mise en girouette 61, provoquant l'action du dispositif de mise en girouette 62 de la grue.

Actions commandées à partir de l'inclinomètre et de l'anémomètre : Le signal 17 issu de l'inclinomètre 18 attaque le comparateur-filtre à seuil fixe 47. Le signal 19 issu de l'anémomètre 20 attaque le comparateur - filtre à seuils réglables 48. Les signaux de sortie de ces deux comparateurs 47 et 48 sont reçus aux entrées correspondantes de la porte « ET » 50, laquelle autorise l'ordre de marche ou d'arrêt contrôlé 27 envoyé au variateur de vitesse 28, ou inhibe cet ordre en cas d'inclinaison excessive de la grue ou de vent trop fort.

Action de « limitation de zone » : Les capteurs de position 6 délivrent les signaux 5 qui attaquent le comparateur - multiplicateur à seuils 45. Ce comparateur 45 délivre, en fonction des paramètres en mémoire, l'ordre d'arrêt immédiat 30 dirigé vers le variateur 28.

Fonction d'aide à la conduite : Les signaux 5 et 7, respectivement de position et de charge, sont reçus et traités par l'encodeur 44, lequel transmet les informations 37 par radio vers l'indicateur 38 du boítier de radiocommande 3.

Fonction d'aide à l'exploitation et à la maintenance : Les signaux de position 5, de charge 7, de recopie 9 de l'état du frein 10 et d'anémomètre 19 sont aussi reçus, traités et stockés dans la mémoire de données 59 et la mémoire de programmes 60, qui peuvent être interrogées par l'intermédiaire du terminal d'opérateur 40 ou du terminal distant 26.

Mise à jour des programmes : Le signal 25, issu du terminal à distance 26, permet de mettre à jour la mémoire de données 59 et la mémoire de programmes 60.Comme il va de soi, l'invention ne se limite pas à la seule forme d'exécution de ce dispositif de contrôle de commande pour grues à tour qui a été décrite ci-dessus, à titre d'exemple ; elle en embrasse , au contraire, toutes les variantes de réalisation et d'application respectant le même principe. En particulier, les diverses fonctions décrites ci-dessus ne sont pas nécessairement toutes réunies, et peuvent être groupées selon toutes combinaisons.

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

Control of a movement by the radio control 3: The radio control 3 transmits a radio signal 4, which is received by the device and converted, by the decoder 43, into a running command 27 transmitted via the "AND" gate 50 to the variable speed drive 28, which supplies 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: Signal 4, emitted by radio control 3, is deleted. As a result, the variable speed drive 28 no longer receives a run command 22, which generates a controlled stop of the movement, the drive 28 ceasing to supply the motor 29 and the brake 10 which, being a brake for lack of current then blocks the movement.

Action of a motion or load limiter: Signal 5 or 7, coming from a position sensor 6 or load sensor 8, attacks the threshold comparator-multiplier 45 which generates, when the threshold is reached, a immediate stop command 30 sent to the drive 28 and, simultaneously, starts the timer circuit 46. Accordingly:

• the drive 28 stops feeding the motor 29 and the brake 10;
• the sensor 11 delivers the signal 9 to copy the state of the brake 10;
• normally, this signal 9 stops the timing circuit 46, before complete flow of the time set for this circuit 46;
• in the absence of the signal 9, and if the time set for the circuit 46 has elapsed, this circuit 46 emits the signal 31, directed to the general breaking actuator 32, which then causes the general stop of the crane.

Emergency operation command: The operator switches the switch 16 to its emergency on position, which has the effect of making operational the emergency running command 58, and making inoperative the signal 4 from the housing of the radio control 3. The emergency run command 58 is then used, by action on its push-button. The signal emitted by this emergency run command 58 is transmitted via the "AND" gate 50, and generates a run command 27 for the variator 28. The operation is then performed in a manner similar to the normal operation, explained at the beginning of this operating description.

Mounting commands: The work / assembly switch 14 is swung by the operator into the mounting position, which has the effect of directing the control signal 4, coming from the radio control 3, or the signal coming from the emergency control 58, to the sequencer 49. The sequencer 49 controls respectively the solenoid valves 35, 36 of folding-unfolding of the boom and the mast, by the signals 33, 34, this alternately according to the signals 21 which represent the position of the boom and mast. Folding or unfolding is thus done in a continuous sequence.

Wind vane: By pressing a button of the housing of the radio control 3, the operator sends a particular control signal received by the decoder 43, which then emits the windowing signal 61, causing the action of the setting device in wind vane 62 of the crane.

Actions controlled from the inclinometer and the anemometer: The signal 17 from the inclinometer 18 drives the fixed threshold filter comparator 47. The signal 19 from the anemometer 20 drives the filter comparator with adjustable thresholds 48. The output signals of these two comparators 47 and 48 are received at the corresponding inputs of the "AND" gate 50, which allows the controlled ON or OFF command 27 sent to the variable speed drive 28, or inhibits this order in case of excessive inclination of the 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, according to the parameters in memory, the immediate stop command directed towards the inverter 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 of the radio control box 3.

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

Update of the programs: The signal 25, coming from the remote terminal 26, makes it possible to update the data memory 59 and the program memory 60. As is obvious, the invention is not limited to the only embodiment of this tower crane control control device which has been described above, by way of example; it embraces, on the contrary, all variants of implementation and application respecting the same principle. In particular, the various functions described above are not necessarily all together, and can be grouped in any combination.

Claims (10)

1. A tower crane, in particular a small crane, with a control monitoring device, with integration of functions, which control monitoring device comprises, in respect of all the movements of the crane, such as hoisting, rotation, distribution and translation, a monitoring/control electronic unit (2) receiving at its inputs and processing a control signal (4), the monitoring/control electronic unit (2) also receiving and processing signals (5, 7, 9, 13, 15, 17, 19, 21) originating from sensors (6, 8, 11, 18, 20, 22, 23, 24) and from switches (14, 16), and delivering start and stop commands (27, 30, 31, 33, 34) at its outputs, while monitoring the action of speed regulators (28) or other control members (35, 36) assigned to the movements, as well as the action of safety devices (32) of the crane, characterized in that the control monitoring device (2) is adapted for radio control, the monitoring/control electronic unit (2) comprising therefore a decoder (43) and an encoder (44) serving as interfaces for a bi-directional radio link with a radio control box (3), and in that said monitoring/control electronic unit (2) further comprises means (45 to 48) for receiving and processing signals (5, 7) originating from position sensors (6) and load sensor (8), a signal (9) originating from a sensor (11) for copying the state of the brake (10) associated with each movement of the crane, a (17) originating from a sensor of horizontality (18) of a part of the crane, of the inclinometer kind, and a signal (19) originating from an anemometer (20).
2. A tower crane as claimed in claim 1, characterized in that the monitoring/control electronic unit (2) comprises means (58) for receiving and processing signals (15) originating from a normal working/emergency switch (16).
3. A tower crane as claimed in claim 1 or 2, characterized in that the monitoring/control electronic unit (2) is intended to deliver a monitored start or unit (2) is intended to deliver a monitored start or stop command (27) to the speed regulators (28), an instantaneous stop command (30) sent to the same speed regulators (28), and a signal (31) directed to a general cutout actuator (32).
4. A tower crane as claimed in any one of claims 1 to 3, characterized in that the monitoring/control electronic unit (2) is designed to receive and process signals (13) originating from a normal working/erection switch (14), as well as signals (21) related to the configuration of the crane during erection, and comprises a sequencer (49) receiving these signals (13, 21) and delivering signals (33, 34) for controlling actuators, such as rams, for the folding/unfolding of the crane in a continuous sequence.
5. A tower crane as claimed in any one of claims 1 to 4, characterized in that the monitoring/control electronic unit (2) is designed to deliver, by radio, information (37) corresponding to the input signals processed, which information is transmitted to means for aiding driving, in the form of an indicator (38) placed on the radio control box (3).
6. A tower crane as claimed in any one of claims 1 to 5, characterized in that the monitoring/control electronic unit (2) is designed to deliver a signal for slewing (61) the crane, on the basis of a slewing control signal emitted by the radio control box (3).
7. A tower crane as claimed in all of claims 1 to 6, characterized in that the monitoring/control electronic unit (2) comprises:

   the contacts (15, 13) of the normal working/emergency (16) and working/erection (14) switches,

   a comparator (45), in particular a multiplier comparator with thresholds, receiving and processing the signals (5, 7) originating from the position sensors (6) and load sensor (8),

   a comparator (47), in particular a filter comparator with fixed threshold, receiving and processing the signal (18) originating from the horizontality sensor (17),

   a comparator (48), in particular a filter comparator with adjustable thresholds, receiving and processing the signal (19) originating from the anemometer (20),

   a timeout circuit (46), receiving the signal (9) originating from the sensor (11) for copying the state of the brake (10), and having its output linked to the general cutout actuator (32),

   the aforesaid sequencer (49) delivering the signals for controlling the actuators for the folding/unfolding of the crane,

   a logic circuit (50), emitting the monitored start or stop command (27) sent to the speed regulator (28) as a function of the position of the working/erection switch (14) and of the output signals from the comparators (47, 48) which receive the signals (17, 19) from the horizontality sensor (18) and from the anemometer (20).
8. A tower crane as claimed in claim 7, characterized in that the monitoring/control electronic unit (2) furthermore comprises at least one memory for data and for programs (59, 60), which receives, processes and stores the position signal (5), the load signal (7), the signals from the inclinometer (17) and the anemometer (19), as well as the signal for copying (9) the state of the brake (10), the memory or memories (59, 60) being interrogatable from terminals, such as operator terminal (40) or remote terminal (26).
9. A tower crane as claimed in claim 8, characterized in that the control monitoring device performs a zone limitation action, by means of the comparator/multiplier with thresholds (45) receiving and processing the signals (7) originating from the position sensors (6), and as a function of the parameters in memory, with emission of an immediate stop command (30) directed to the regulator (28).
10. A tower crane as claimed in claim 8 or 9, characterized in that the electronic unit (2) comprises an input for downloading updating information (25) from a remote terminal (26), to the memory or memories (59, 60).

Images