EP1327601A1 - Steuerungsverfahren und -vorrichtung zum sicheren Zusammenklappen und Aufklappen eines Turmkrans - Google Patents

Steuerungsverfahren und -vorrichtung zum sicheren Zusammenklappen und Aufklappen eines Turmkrans Download PDF

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Publication number
EP1327601A1
EP1327601A1 EP02356260A EP02356260A EP1327601A1 EP 1327601 A1 EP1327601 A1 EP 1327601A1 EP 02356260 A EP02356260 A EP 02356260A EP 02356260 A EP02356260 A EP 02356260A EP 1327601 A1 EP1327601 A1 EP 1327601A1
Authority
EP
European Patent Office
Prior art keywords
folding
unfolding
boom
crane
mast
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.)
Granted
Application number
EP02356260A
Other languages
English (en)
French (fr)
Other versions
EP1327601B1 (de
Inventor
Jean-Paul M. Verchere
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.)
Manitowoc Crane Group France SAS
Original Assignee
Potain SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Potain SA filed Critical Potain SA
Publication of EP1327601A1 publication Critical patent/EP1327601A1/de
Application granted granted Critical
Publication of EP1327601B1 publication Critical patent/EP1327601B1/de
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
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/26—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
    • B66C23/34—Self-erecting cranes, i.e. with hoisting gear adapted for crane erection purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/26—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
    • B66C23/34—Self-erecting cranes, i.e. with hoisting gear adapted for crane erection purposes
    • B66C23/348—Self-erecting cranes, i.e. with hoisting gear adapted for crane erection purposes the erection being operated by jacks

Definitions

  • the present invention relates, in a general manner, to the field of tower cranes with foldable boom and folding boom. More particularly, this The subject of the invention is a method and a control / monitoring device secure unfolding and folding of such a tower crane, for the passage of a folded transport position to an unfolded working position, or vice versa, or still for the transition from a defined working position to another position of job.
  • a tower crane foldable and boom crane configuration is described, for example, in the French patent FR 2682096 in the name of of the Applicant. It can also be mentioned the French patent FR 2796632 in the name of the Applicant, which more particularly describes a folding device of the front element of a crane boom, also referred to as "tip of arrow”.
  • Tower cranes described in the aforementioned documents include, at the level of their mast and their boom, a certain number joints which are motorized by means of hydraulic cylinders, associated to mechanisms with connecting rods and levers, designated as linkages.
  • the phases of unfolding and folding such cranes require actuation sequence of different cylinders, in a well-defined order of succession, and with passage through intermediate positions they are also well defined.
  • the kinematics of the different unfolding and folding phases such cranes are usually described in their operating instructions, and the Securing each phase depends on the operator.
  • the phases dangerous goods generally have positions identified by visuals on the crane, or on diagrams of the instructions for use.
  • the securing the crane's transport position is generally carried out at means of manual interlocks, for example on the orientation device or on the lifting mitt. Securing the working position is usually performed by visual inspection.
  • the present invention aims to remedy these drawbacks, therefore to secure the unfolding and folding phases of a tower crane by removing manual operations that present risks, to replace them by automatic sequences.
  • the subject of the invention is essentially a method of secure control / control of the unfolding and folding of a tower crane, in which unfolding and folding movements are motorized by actuators such as cylinders, the method of selecting a procedure unfolding and folding, defined by its initial position and its final position, to actuate successively the cylinders or other actuators, according to a pre-established automatic sequence corresponding to the selected procedure, and to control the progress of this sequence by arrival detection elements of the mast and / or boom of the crane in positions intermediate and in the final position.
  • actuators such as cylinders
  • the automatic sequence of unfolding and folding the crane includes, in particular, successive and / or alternating actuations of cylinders or other actuators for folding / folding the boom mast, each Actuation of actuator or other actuator being interrupted by detection arrival of mast elements and / or arrow in a predetermined position, this detection then authorizing the actuation of a jack or other actuator next.
  • automatic folding sequence features still detections of supports of the elements of mast and / or arrow between them, or on crane frame members, and may also include minus a blocking action in the folded transport position.
  • the device may include a manual switch to at least two positions, for selecting an unfolding or folding configuration defined by its two extreme positions, and a command manipulator, for unfolding or folding selection, the combination of actions on the switch and on the manipulator completely defining each procedure unfolding or folding.
  • the sequential control unit of the cylinders may be constituted by a set of relays, which control solenoid valves of a set hydraulic feeding cylinders folding / unfolding the crane, according to each sequence.
  • this comprises advantageously inductive position sensors, fixed on elements of mast or on boom elements of the crane, or on an element of chassis of this crane for the control of the arrival in the folded position of transport.
  • the method and the device, objects of the invention allow a automatic unfolding and folding sequences, complete or partial (depending on the selected procedure), with automatic chaining movements required by the unfolding and folding phases, the only manual intervention being the initial preselection of the procedure to be performed, and his command.
  • the execution of unfolding and folding operations is simplified, and it becomes achievable, safely, by a staff non-specialized, since the unfolding and folding sequences are determined from the design of the crane, so as to avoid any risk accident, any maneuver or unplanned sequence being unfeasible.
  • the deletion of manual operations allows, moreover, the reduction of the time necessary for unfolding or folding the crane.
  • Inductive sensors used for the control of positions and for the authorization of movements successive unfolding / folding sequences, are particularly reliable and particularly weather-resistant, which further contributes to the safe unfolding of unfolding and folding phases.
  • process and device, objects of the invention not only ensure the safety of the unfolding and folding phases, but also the supports and safety locks, necessary for the transport of the crane in the folded state.
  • FIGS 1 to 6 show a folding tower crane placed on the chassis 1 of a carrier vehicle 2, on which is mounted a rotating frame 3, orientable about a vertical axis 4.
  • the crane comprises a mast 5, made of two elements 6 and 7 hinged together about a horizontal axis 8.
  • the element of lower mast 6 is articulated by its base, around a horizontal axis 9, to the front of the rotating chassis 3.
  • At the top of the upper mast element 7 is articulated, around a horizontal axis 10, a distributing arrow 11 along which is movable a carriage 12, under which is a muffle of 13 to which is attached a lifting hook 14.
  • the arrow 11 is composed here of four successive elements, an arrow foot 15, a short boom folding member 16, an intermediate boom member 17 and a arrowhead 18. These boom members 15, 16, 17 and 18 are hinged between them, around horizontal intermediate axes.
  • the crane further includes struts 19 for training the mast 5 and a retainer 20 of the arrow 11, linked to the rear part of the frame rotating 3.
  • the retainer 20 of the arrow 11, previously mentioned, here includes an arrow pull 26 connecting the front of the boom foot 15 at the top of a punch 27, articulated on the posterior part of the arrow 11, and a cable 28 directed downwards, which starts from the top of the punch 27 and which is extended downwards by a rigid elongate member 29, bound by its base to the rear part of the rotating chassis 3.
  • a connecting rod 30 connects the junction of the cable 28 and the rigid element 29 with the upper region of the lower mast element 6.
  • the device for control / control of the unfolding and folding of the crane includes a central hydraulic 31, equipped with solenoid valves not shown, for feeding in hydraulic fluid under pressure of the three cylinders 21, 22 and 23.
  • the solenoid valves are controlled from a sequential control unit 32, receiving itself orders from a manual switch 33 and a joystick 34, as well as signals from a set of collectors, designated overall by 35.
  • the sequential control unit 32 consists of a set relays, operated according to the flow charts of FIGS. 8 to 11, to realize the various sequences L1 to L4 unfolding and folding, complete or partial, defined above.
  • the working positions are configurations with arrow 11, aligned or shortened, substantially horizontal.
  • a working configuration with arrow 11 raised, for example inclined by about 20 ° on the horizontal, can however be chosen, before any unfolding, by a preliminary adjustment of the length of the tie rod of arrow 26.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
EP02356260A 2002-01-09 2002-12-13 Steuerungsverfahren und -vorrichtung zum sicheren Zusammenklappen und Aufklappen eines Turmkrans Expired - Lifetime EP1327601B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0200190A FR2834505B1 (fr) 2002-01-09 2002-01-09 Procede et dispositif de commande/controle securise du depliage et repliage d'une grue a tour
FR0200190 2002-01-09

Publications (2)

Publication Number Publication Date
EP1327601A1 true EP1327601A1 (de) 2003-07-16
EP1327601B1 EP1327601B1 (de) 2007-12-05

Family

ID=8871205

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02356260A Expired - Lifetime EP1327601B1 (de) 2002-01-09 2002-12-13 Steuerungsverfahren und -vorrichtung zum sicheren Zusammenklappen und Aufklappen eines Turmkrans

Country Status (7)

Country Link
US (1) US20030127409A1 (de)
EP (1) EP1327601B1 (de)
JP (1) JP2003221185A (de)
DE (1) DE60223897T2 (de)
ES (1) ES2298338T3 (de)
FR (1) FR2834505B1 (de)
RU (1) RU2328441C2 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201800004677A1 (it) * 2018-04-18 2019-10-18 Sistema per la movimentazione automatica di un braccio articolato, in particolare di una gru articolata, verso una posizione target
EP4116251A1 (de) * 2021-07-06 2023-01-11 Manitowoc Crane Group France Steuerungsverfahren eines krans zum auswählen und anwenden einer bevorzugten lastkurve in abhängigkeit von der neigung eines auslegerstrukturelements
US11999598B2 (en) 2021-07-06 2024-06-04 Manitowoc Crane Group France Crane drive method for selecting and applying a preferential load curve according to the inclination of a jib structural element

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6085493B2 (ja) * 2013-02-15 2017-02-22 株式会社東京Ｂｋ足場 塔型クレーン
JP6088868B2 (ja) * 2013-03-15 2017-03-01 株式会社東京Ｂｋ足場 塔型クレーン
DE102014019465A1 (de) * 2014-12-23 2016-06-23 Liebherr-Werk Biberach Gmbh Verfahren zur Überwachung der Kransicherheit sowie ein System zur Überwachung der Kransicherheit
DE102015002237A1 (de) * 2015-02-20 2016-08-25 Liebherr-Werk Biberach Gmbh Klettersystem für einen Kran
FR3102763B1 (fr) 2019-10-31 2021-11-12 Manitowoc Crane Group France Grue à tour avec poinçon à pliage et dépliage automatiques
FR3123642B1 (fr) * 2021-06-07 2023-04-28 Manitowoc Crane Group France Grue à montage automatisé avec contrôle des opérations de changement de configuration

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2180613A1 (de) * 1972-04-20 1973-11-30 Potain Sa
FR2362784A1 (fr) * 1976-08-30 1978-03-24 Pingon Manubat Sa Equipement de levage a grue depliable et essieu automonteur
JPH09244729A (ja) * 1996-03-07 1997-09-19 Hitachi Zosen Corp 作業用ロボット装置の制御方法

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FR2444639A1 (fr) * 1978-12-20 1980-07-18 Potain Sa Equipement de manutention, notamment pour un engin automoteur
JPS62153100A (ja) * 1985-12-25 1987-07-08 株式会社豊田自動織機製作所 中折れ式高所作業車のブ−ム駆動制御装置
FR2605619B1 (fr) * 1986-10-27 1989-03-31 Potain Sa Engin repliable pour la manutention et le levage des charges
JPH0647911Y2 (ja) * 1989-09-29 1994-12-07 株式会社アイチコーポレーション 直屈伸ブームの自動格納装置
JPH0815997B2 (ja) * 1989-12-27 1996-02-21 元田電子工業株式会社 水平に保持される各種機構，装置類の取付フレーム
JP2841016B2 (ja) * 1993-11-08 1998-12-24 小松メック株式会社 リーチタワークレーンの操作制御方法および装置
US5493798A (en) * 1994-06-15 1996-02-27 Caterpillar Inc. Teaching automatic excavation control system and method
FR2792627B1 (fr) * 1999-04-23 2001-06-01 Potain Sa Grue avec fleche a fonctions multiples
US6327791B1 (en) * 1999-06-09 2001-12-11 The Government Of The United States As Represented By The Secretary Of Commerce Chain code position detector
US6371214B1 (en) * 1999-06-11 2002-04-16 Caterpillar Inc. Methods for automating work machine functions
US6402051B1 (en) * 2000-10-27 2002-06-11 Deere & Company Fold cylinder structure

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2180613A1 (de) * 1972-04-20 1973-11-30 Potain Sa
FR2362784A1 (fr) * 1976-08-30 1978-03-24 Pingon Manubat Sa Equipement de levage a grue depliable et essieu automonteur
JPH09244729A (ja) * 1996-03-07 1997-09-19 Hitachi Zosen Corp 作業用ロボット装置の制御方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 1998, no. 01 30 January 1998 (1998-01-30) *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201800004677A1 (it) * 2018-04-18 2019-10-18 Sistema per la movimentazione automatica di un braccio articolato, in particolare di una gru articolata, verso una posizione target
EP3556711A1 (de) * 2018-04-18 2019-10-23 FASSI GRU S.p.A. System zum automatischen bewegen eines knickarms, insbesondere eines ladekrans, in eine zielposition
EP4116251A1 (de) * 2021-07-06 2023-01-11 Manitowoc Crane Group France Steuerungsverfahren eines krans zum auswählen und anwenden einer bevorzugten lastkurve in abhängigkeit von der neigung eines auslegerstrukturelements
FR3125032A1 (fr) * 2021-07-06 2023-01-13 Manitowoc Crane Group France Procédé de pilotage de grue pour sélectionner et appliquer une courbe de charge préférentielle en fonction de l’inclinaison d’un élément structurel de flèche
US11999598B2 (en) 2021-07-06 2024-06-04 Manitowoc Crane Group France Crane drive method for selecting and applying a preferential load curve according to the inclination of a jib structural element

Also Published As

Publication number Publication date
RU2328441C2 (ru) 2008-07-10
FR2834505A1 (fr) 2003-07-11
DE60223897D1 (de) 2008-01-17
DE60223897T2 (de) 2008-11-13
EP1327601B1 (de) 2007-12-05
US20030127409A1 (en) 2003-07-10
FR2834505B1 (fr) 2004-05-07
ES2298338T3 (es) 2008-05-16
JP2003221185A (ja) 2003-08-05

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