EP1327601B1 - Controlling method and device for the safe folding and unfolding of a tower crane - Google Patents

Description

The present invention relates generally to the field of cranes with foldable boom and folding boom. More particularly, this invention relates to a method and a device for the control / secure control of the 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 for the transition from a defined working position to another working position.

A folding tower crane and folding boom configuration is described, for example, in the French patent FR 2682096 in the name of the Applicant. It can also be mentioned French patent FR 2796632 in the name of the Applicant, which more particularly describes a device for folding the front element of a crane boom, also designated as "arrowhead".

The tower cranes described in the aforementioned documents include, at their mast and their boom, a number of joints which are motorized by means of hydraulic cylinders, associated with mechanisms with connecting rods and levers, designated as linkages. The unfolding and folding phases of such cranes require the successive actuation of the different cylinders, in a well-defined sequence of succession, and passing through intermediate positions they are also well defined.

The kinematics of the different phases of unfolding and folding such cranes is usually described in their instructions for use, and the securing of each of the phases depends on the operator. Dangerous phases generally have positions marked by visual elements on the crane, or on diagrams of the instructions for use. Securing the transport position of the crane is generally achieved by means of manual locks, for example on the orientation device or on the lifting muffle. Securing the working position is usually done by visual inspection.

As is easily understood, manual and therefore human interventions remain necessary and decisive, in the unfolding and folding phases of the crane. As a result, the control and control of these phases remains complex, and require the intervention of highly specialized personnel, without any real guarantee of security, as nothing really prohibits unscheduled or inappropriate maneuvers or sequences. and risks of material or human accidents can not be excluded.

The present invention aims to remedy these drawbacks, thus to secure the unfolding and folding phases of a tower crane, by eliminating manual operations that present risks, and replace them with automatic sequences.

For this purpose, the subject of the invention is essentially a method of securely controlling / controlling the unfolding and folding of a tower crane, in which the unfolding and folding movements are motorized by actuators such as cylinders, the method consisting in selecting an unfolding and folding procedure, defined by its initial position and its final position, to successively actuate the actuators or other actuators, according to a pre-established automatic sequence corresponding to the selected procedure, and to control the sequence of this sequence by detection of arrival of mast elements and / or boom of the crane in intermediate positions and in the final position.

The automatic unfolding and folding sequence of the crane comprises, in particular, successive and / or alternating actuations of the jacks or other actuators for folding / folding of the boom mast, each cylinder actuation or other actuator being interrupted by the detection. arrival of mast elements and / or arrow in a predetermined position, this detection then allowing the actuation of actuator or other actuator next.

In the case of a folding procedure of the crane to its folded transport position, the automatic folding sequence further comprises detections of support elements mast and / or arrow between them, or on elements of frame of the crane, and it can also include at least one blocking action in the folded transport position.

• au moins un commutateur pour la sélection manuelle d'une procédure de dépliage ou de repliage, définie par sa position initiale et sa position finale,
• une unité de commande séquentielle des vérins ou autres actionneurs selon une procédure sélectionnée, et
• un ensemble de capteurs prévus pour détecter l'arrivée d'éléments de mât et/ou de flèche de la grue dans des positions intermédiaires et finale, ces capteurs étant reliés à l'unité de commande séquentielle des vérins ou autres actionneurs.

The subject of the invention is also a device for securely controlling / controlling the unfolding and folding of a tower crane, for the implementation of the method defined above. This device mainly comprises, in combination:

• at least one switch for the manual selection of an unfolding or folding procedure, defined by its initial position and its final position,
• a sequential control unit of the cylinders or other actuators according to a selected procedure, and
• a set of sensors designed to detect the arrival of mast elements and / or boom of the crane in intermediate and final positions, these sensors being connected to the sequential control unit of the cylinders or other actuators.

The device may comprise a manual switch with at least two positions, for the selection of an unfolding or folding configuration defined by its two extreme positions, and a control manipulator, for the selection of unfolding or folding, the combination of actions on the switch and on the manipulator defining fully each unfolding or folding procedure.

The sequential control unit of the cylinders can be constituted by a set of relays, which control solenoid valves of a hydraulic power supply unit of the crane folding / unfolding cylinders, according to each sequence.

As for the set of sensors of the device, it advantageously comprises inductive position sensors, fixed on mast elements or on boom elements of the crane, or on a chassis element of this crane for control. from the arrival in folded transport position.

The details of the automatic unfolding and folding sequences, and the arrangement of the sensors which allow the control of these sequences, naturally depend on the configuration of the crane, namely the general arrangement and the unfolding / folding mode of the mast elements. and arrow, and also the particular arrangement of the cylinders and associated links.

• l'actionnement du deuxième vérin pour le dépliage partiel de la flèche, l'élément intermédiaire de flèche formant avec le pied de flèche un angle aigu,
• l'actionnement du premier vérin pour le dépliage complet du mât, jusqu'à une position dressée,
• l'actionnement du deuxième vérin pour la poursuite du dépliage de la flèche, jusqu'à l'alignement du pied de flèche avec l'élément intermédiaire de flèche, et
• l'actionnement du troisième vérin pour l'alignement de la pointe de flèche avec l'élément intermédiaire.

For example, in the case of a crane comprising a mast made of two elements articulated together, and an arrow comprising an arrow foot, an intermediate element of arrow and an arrow point, hinged together where appropriate with interposition d an arrow folding member, while there is provided a first cylinder for unfolding / folding the mast members, a second jack for generally unfolding / folding the boom, and a third jack for unfolding / folding the tip with the jacks being associated with linkages, the invention provides that the automatic unfolding sequence of the crane comprises, successively:

• actuating the second ram for partial unfolding of the boom, the intermediate boom element forming an acute angle with the boom foot,
• the actuation of the first jack for the complete unfolding of the mast, to an erected position,
• actuating the second ram for further unfolding the boom until the boom foot is aligned with the boom intermediate member, and
• actuating the third cylinder for aligning the boom tip with the intermediate element.

• le passage de la position complètement repliée de transport de la grue à la position de travail complètement dépliée, le mât étant dressé et la flèche alignée, et vice versa ;
• le passage d'une position de travail avec flèche alignée, le mât étant dressé, à une position de travail avec flèche raccourcie, le mât restant dressé, et vice versa.

Procedures that can be selected using the switch include:

• moving from the completely folded transport position of the crane to the fully unfolded working position, the mast being erected and the arrow aligned, and vice versa;
• the passage of a working position with aligned arrow, the mast being erected, a working position with shortened boom, the mast remaining erect, and vice versa.

In the particular example previously considered, this last procedure comprises the actuation of the only second jack.

Thus, the method and the device, objects of the invention, allow an automatic unfolding and folding sequences, complete or partial (according to the selected procedure), with automatic sequencing of the movements required by the unfolding and folding phases. , the only manual intervention being the initial preselection of the procedure to be performed, and its order. The unfolding and folding operations are thus simplified, and can be done safely by non-specialized personnel, since the unfolding and folding sequences are determined from the design of the crane, so that avoid any risk of accident, any maneuver or sequence not foreseen being unfeasible. The deletion of manual operations also makes it possible to reduce the time required for unfolding or folding the crane. The inductive sensors, used for the control of the positions and for the authorization of the successive movements of the unfolding / folding sequences, are particularly reliable and in particular non-sensitive to the weather, which further contributes to the safety of unfolding phases unfolding and folding. Finally, method and the device, objects of the invention, ensure not only the safety of the unfolding and folding phases, but also the supports and security locks, necessary for the transport of the crane in the folded state.

• Figure 1 représente, en position repliée de transport, une grue à tour équipée du dispositif objet de l'invention ;
• Figure 2 représente la même grue, en position dépliée de travail;
• Figures 3, 4 et 5 sont des schémas illustrant des positions intermédiaires de cette grue, en cours de dépliage (ou de repliage) ;
• Figure 6 montre une autre position de travail de la même grue ;
• Figure 7 est un schéma synoptique du dispositif de commande/contrôle du dépliage et repliage de la grue considérée ;
• Figures 8, 9, 10 et 11 sont des logigrammes illustrant diverses séquences de dépliage et de repliage obtenues par ce dispositif.

The invention will be better understood with the aid of the description which follows, with reference to the appended schematic drawing showing, by way of example, an embodiment of this device for the secure control / control of the unfolding and folding of a tower crane :

• Figure 1 shows, in the folded transport position, a tower crane equipped with the device object of the invention;
• Figure 2 shows the same crane, in unfolded working position;
• Figures 3, 4 and 5 are diagrams illustrating intermediate positions of this crane, being unfolded (or folding);
• Figure 6 shows another working position of the same crane;
• Figure 7 is a block diagram of the control / unfolding control device of the crane considered;
• Figures 8, 9, 10 and 11 are flow charts illustrating various unfolding and folding sequences obtained by this device.

FIGS. 1 to 6 show a folding tower crane, placed on the frame 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 in two elements 6 and 7 hinged together about a horizontal axis 8. The lower mast element 6 is articulated by its base, about a horizontal axis 9, to the front of the rotating frame 3. At the top of the upper mast element 7 is articulated, around a horizontal axis 10, a distributor arrow 11 along which is movable a carriage 12, under which is a lifting muffle 13 to which is attached a lifting hook 14 The arrow 11 is composed here of four successive elements, namely a jib 15, a short jib 16, an intermediate jib 17 and an arrowhead 18. These jib elements 15, 16, 17 and 18 are articulated between them, around inte horizontal intermediaries.

The crane further comprises struts 19 for training the mast 5 and a device 20 for retaining the boom 11, connected to the rear part of the rotating frame 3.

• Le premier vérin 21, situé au niveau de l'élément de mât inférieur 6, sert au dépliage/repliage des éléments de mât 6 et 7. Ce vérin 21 est associé à un embiellage 24.
• Le deuxième vérin 22 est situé au niveau de l'élément intermédiaire 16 de la flèche 11. Associé à un embiellage 25 (voir figure 1, à droite), ce vérin 22 sert au dépliage/repliage des trois premiers éléments 15, 16 et 17 de la flèche 11.
• Le troisième vérin 23 est situé au niveau de l'articulation de la pointe de flèche 18 sur l'avant de l'élément intermédiaire de flèche 17. Ce dernier vérin 23 sert ainsi au dépliage/repliage de la pointe de flèche 18, par rapport à l'élément intermédiaire 17.

Three double-acting hydraulic cylinders 21, 22 and 23 are provided for the motorization of unfolding and folding of the crane:

• The first jack 21, located at the level of the lower mast element 6, is used for unfolding / folding of the mast elements 6 and 7. This jack 21 is associated with a linkage 24.
• The second jack 22 is located at the intermediate element 16 of the arrow 11. Associated with a linkage 25 (see Figure 1, right), the cylinder 22 serves to unfold / fold the first three elements 15, 16 and 17 of the arrow 11.
• The third cylinder 23 is located at the articulation of the arrowhead 18 on the front of the intermediate boom member 17. The latter cylinder 23 thus serves to unfold / fold the boom tip 18, relative to the intermediate element 17.

The retainer 20 of the boom 11, mentioned above, here comprises a tie rod 26 connecting the front of the boom 15 to the top of a punch 27, hinged to the rear part of the boom 11, and a cable 28 directed downwards, which starts from the top of the punch 27 and is extended downwards by a rigid elongated element 29, linked by its base to the rear part of the rotating frame 3. In addition, a connecting rod 30 connects the joining the cable 28 and the rigid element 29 with the upper region of the lower mast element 6.

Referring also to FIG. 7, the device for controlling / controlling the unfolding and folding of the crane comprises a hydraulic unit 31, equipped with solenoid valves, not shown, for the supply of hydraulic fluid under pressure of the three jacks 21, 22 and 23. The solenoid valves are controlled from a sequential control unit 32, itself receiving commands from a manual switch 33 and a control manipulator 34, as well as signals from a set of collectors, designated overall by 35.

• la position A correspond au passage de la grue complètement repliée (figure 1) à la grue complètement dépliée, avec son mât 5 dressé et sa flèche 11 alignée (figure 2), ou vice versa ;
• la position B correspond au passage de la grue complètement dépliée, avec son mât 5 dressé et sa flèche 11 alignée (figure 2), à une position dans laquelle le mât 5 est encore dressé, mais la flèche 11 est repliée (figure 6), ou vice versa.

The manual switch 33 is an N-position switch, two particular positions, designated A and B, which allow here a preselection between two unfolding or folding configurations:

• the position A corresponds to the passage of the completely folded crane (FIG. 1) to the fully unfolded crane, with its mast 5 erected and its arrow 11 aligned (FIG. 2), or vice versa;
• the position B corresponds to the passage of the fully unfolded crane, with its mast erected and its arrow 11 aligned (Figure 2), to a position in which the mast 5 is still erect, but the arrow 11 is folded (Figure 6), or vice versa.

• L1 désigne le passage de la grue complètement repliée (position de transport) à la grue complètement dépliée, avec son mât 5 dressé et sa flèche 11 alignée, autrement dit la séquence de dépliage complet de la grue, amenant cette grue dans sa position de travail ordinaire selon la figure 2.
• L2 désigne le passage inverse de la grue complètement dépliée, avec son mât 5 dressé et sa flèche 11 alignée, à la position complètement repliée, autrement dit la séquence de repliage complet de la grue, ramenant cette grue dans sa position de transport selon la figure 1.
• L3 désigne le passage de la grue complètement dépliée, avec son mât 5 dressé et sa flèche 11 alignée, à la position dans laquelle le mât 5 reste dressé mais la flèche 11 est repliée, autrement dit la séquence de repliage partiel amenant la grue dans une position de travail particulière avec flèche 11 raccourcie, selon la figure 6.
• L4 désigne le passage inverse de la grue de la position avec mât 5 dressé mais flèche 11 repliée, vers la position complètement dépliée, le mât 5 étant dressé et la flèche 11 alignée, autrement dit la séquence de dépliage partiel depuis la position de travail avec flèche 11 raccourcie jusqu'à la position de travail ordinaire.

The control manipulator 34 is a two-position manipulator, respectively unfolding and folding, which, combined with the two positions A and B of the switch 33, allow the control of four procedures or sequences, respectively designated L1 to L4:

• L1 denotes the passage of the fully folded crane (transport position) to the completely unfolded crane, with its mast erected and its boom aligned, ie the complete unfolding sequence of the crane, bringing this crane into its working position according to Figure 2.
• L 2 denotes the reverse passage of the completely unfolded crane, with its mast erected and its arrow 11 aligned, to the fully folded position, in other words the complete folding sequence of the crane, bringing this crane into its transport position according to FIG. 1.
• L3 denotes the passage of the fully unfolded crane, with its mast erected and its arrow 11 aligned, at the position in which the mast 5 remains erect but the boom 11 is folded, ie the partial folding sequence bringing the crane into a particular working position with shortened arrow 11, according to FIG. 6.
• L4 designates the reverse passage of the crane from the position with mast 5 raised but arrow 11 folded, to the completely unfolded position, the mast 5 being erected and the arrow 11 aligned, ie the partial unfolding sequence from the working position with arrow 11 shortened to the ordinary working position.

The sequential control unit 32 consists of a set of relays, operated according to the flow charts of FIGS. 8 to 11, in order to realize the various unfolding and folding sequences L1 to L4, complete or partial, defined above.

• un premier capteur inductif 36 fixé sur le châssis tournant 3, au niveau de l'appui du mât 5, le capteur 36 étant actionné par l'élément de mât supérieur 7, en position repliée, pour contrôler la position "mât replié" ;
• un deuxième capteur inductif 37 fixé à la base de l'élément de mât supérieur 7, au niveau de son articulation (axe 8) avec l'élément de mât inférieur 6, le capteur 37 étant actionné par l'élément de mât inférieur 6 dans sa position alignée avec l'élément de mât supérieur 7, pour contrôler la position "mât déplié" ;
• un troisième capteur inductif 38 fixé sur la partie avant du pied de flèche 15, au niveau de l'embiellage 25 donc de l'articulation à l'élément 16 de pliage de flèche, le capteur 38 étant actionné par cet embiellage 25 lorsque les deux éléments postérieurs 15 et 16 de la flèche 11 sont alignés, pour contrôler la position "flèche alignée" ;
• un quatrième capteur inductif 39 fixé sur l'élément de pliage 16 de la flèche 11, au niveau de la membrure inférieure de cet élément 16 et sensiblement en position centrale, le capteur 39 étant actionné par le chariot 12 lorsque ce dernier est centré sur la membrure inférieure de l'élément 16, pour contrôler la situation "position de chariot pour repliage de flèche" ;
• un cinquième capteur inductif 40 fixé sur la partie arrière de l'élément intermédiaire de flèche 17, donc au niveau de l'articulation de cet élément intermédiaire 17 avec l'élément 16 de pliage, le capteur 40 étant actionné lorsque l'angle α formé par le pied de flèche 15 et par l'élément intermédiaire 17 est égal à environ 33°, pour contrôler la position particulière "flèche à environ 33° pour ouverture du poinçon 27";
• un sixième capteur inductif 41 fixé sur la partie avant de l'élément intermédiaire de flèche 17, au niveau de l'embiellage d'articulation de la pointe de flèche 18, le capteur 41 étant actionné par cet embiellage lorsque la pointe de flèche 18 est repliée sur l'élément intermédiaire de flèche 17, pour contrôler la position "pointe de flèche repliée" ;
• un septième capteur 42, qui est un capteur à galet, fixé sur la partie avant du pied de flèche 15, au niveau de la membrure inférieure de cet élément de flèche, le capteur 42 étant actionné par une rampe horizontale fixée sur le chariot 12 lorsque ce dernier est positionné à l'extrémité avant du pied de flèche 15, pour contrôler la situation "position du chariot pour flèche raccourcie" ;
• un huitième capteur inductif 43 fixé sur la partie avant de l'élément intermédiaire de flèche 17, et actionné par la pointe de flèche 18 lorsque ces deux éléments 17 et 18 de la flèche 11 sont alignés, pour contrôler la position "pointe de flèche alignée" ;
• un neuvième capteur inductif 44 fixé sur le châssis 1 du véhicule porteur 2, considéré ici comme un châssis "fixe" (par opposition au châssis tournant 3), le capteur 44 étant actionné par l'élément de mât inférieur 6 en position repliée, pour contrôler la position "mât replié en appui pour transport" ;
• un dixième capteur inductif 45 fixé sur l'élément de pliage 16 de la flèche 11, au niveau de la membrure inférieure de cet élément 16 et sensiblement à son extrémité arrière, le capteur 45 étant actionné par une rampe verticale fixée sur le chariot 12, lorsque celui-ci est en position arrière sur la membrure inférieure de l'élément 16, pour contrôler la situation "position de chariot pour transport";
• un onzième capteur inductif 46 fixé sur le pied de flèche 15, au niveau de la membrure supérieure de cet élément de flèche et à son extrémité arrière, le capteur 46 contrôlant simultanément l'appui de l'élément intermédiaire de flèche 17 sur le pied de flèche 15, et l'appui de la pointe de flèche 18 sur le pied de flèche 15, pour contrôler la position "élément intermédiaire de flèche replié et pointe de flèche repliée pour le transport" ; et
• un douzième capteur inductif 47 fixé sur l'élément intermédiaire de flèche 17, au niveau de la membrure supérieure de cet élément de flèche 17, le capteur 47 étant actionné par le tirant de flèche 26, pour contrôler la position "flèche repliée pour travail avec flèche raccourcie".

The sensor assembly 35 comprises, in the particular example illustrated in the drawing:

• a first inductive sensor 36 fixed to the rotating frame 3, at the support of the mast 5, the sensor 36 being actuated by the upper mast member 7, in the folded position, to control the "folded mast"position;
• a second inductive sensor 37 fixed to the base of the upper mast element 7, at its articulation (axis 8) with the lower mast element 6, the sensor 37 being actuated by the lower mast element 6 in its position aligned with the upper mast element 7, to control the position "unfolded mast";
• a third inductive sensor 38 fixed on the front portion of the jib foot 15, at the linkage 25 and therefore of the articulation to the jib folding element 16, the sensor 38 being actuated by this linkage 25 when the two rear elements 15 and 16 of the arrow 11 are aligned to control the "aligned arrow"position;
• a fourth inductive sensor 39 fixed on the folding element 16 of the boom 11, at the bottom chord of this element 16 and substantially in the central position, the sensor 39 being actuated by the carriage 12 when the latter is centered on the lower chord of the element 16, to control the situation "trolley position for boom folding";
• a fifth inductive sensor 40 fixed on the rear part of the intermediate jib element 17, therefore at the articulation of this intermediate element 17 with the folding element 16, the sensor 40 being actuated when the angle α formed by the jib foot 15 and by the intermediate element 17 is equal to about 33 °, to control the particular position "arrow to about 33 ° for opening the punch 27";
• a sixth inductive sensor 41 fixed on the front part of the intermediate jib member 17, at the linkage connecting rod of the jib tip 18, the sensor 41 being actuated by this linkage when the jib tip 18 is folded over the intermediate jib element 17, to control the position "folded arrowhead";
• a seventh sensor 42, which is a roller sensor, fixed on the front part of the jib foot 15, at the lower chord of this jib element, the sensor 42 being actuated by a horizontal ramp fixed on the carriage 12 when the latter is positioned at the front end of the jib foot 15, to control the situation "position of the cart for shortened jib";
• an eighth inductive sensor 43 fixed on the front part of the intermediate jib element 17, and actuated by the jib tip 18 when these two elements 17 and 18 of the jib 11 are aligned, to control the position "aligned arrowhead "
• a ninth inductive sensor 44 fixed to the frame 1 of the carrier vehicle 2, considered here as a "fixed" frame (as opposed to the rotating frame 3), the sensor 44 being actuated by the lower mast element 6 in the folded position, for check the position "mast folded in support for transport";
• a tenth inductive sensor 45 fixed on the folding element 16 of the boom 11, at the lower chord of this element 16 and substantially at its rear end, the sensor 45 being actuated by a vertical ramp fixed on the carriage 12, when it is in the rear position on the lower chord of the element 16, to control the situation "carriage position for transport";
• an eleventh inductive sensor 46 fixed to the jib foot 15, at the upper chord of this jib element and at its rear end, the sensor 46 simultaneously controlling the support of the intermediate jib member 17 on the jib foot 15, and the support of the jib tip 18 on the jib foot 15, to control the position "intermediate element of folded jib and tip of folded arrow for transportation "; and
• a twelfth inductive sensor 47 fixed on the intermediate jib member 17, at the upper chord of this jib element 17, the sensor 47 being actuated by the jib tie 26, to control the position "folded arrow for working with shortened arrow ".

• Un premier appui 48 est prévu entre l'élément de mât inférieur 6 et le châssis fixe 1 (châssis du véhicule porteur 2). L'appui 48, en forme de "V", est constitué par un berceau articulé autour d'un axe horizontal sur des oreilles, fixées dans la partie arrière du châssis fixe 1.
• Un deuxième appui 49, aussi en forme de "V", est prévu entre l'élément intermédiaire de flèche 17 et le pied de flèche 15.
• Un troisième appui 50 est prévu entre la pointe de flèche 18 et le pied de flèche 15.
• Un quatrième appui 51 est prévu entre le chariot 12 et la base de l'élément de mât supérieur 7. L'appui 51 est constitué par le corps d'une bielle articulée sur le chariot 12, et par un patin fixé sur l'élément de mât 7.
• Un blocage 52 de la moufle de levage 13 sur le chariot 12 est réalisé par la même bielle, munie à cet effet d'un patin fixé à son extrémité.

Finally, the crane has a number of supports and security locks, for its transport (see Figure 1):

• A first support 48 is provided between the lower mast element 6 and the fixed frame 1 (chassis of the carrier vehicle 2). The support 48, in the form of "V", is constituted by a cradle articulated about a horizontal axis on ears, fixed in the rear part of the fixed frame 1.
• A second support 49, also in the form of a "V", is provided between the intermediate jib element 17 and the jib foot 15.
• A third support 50 is provided between the jib tip 18 and the jib foot 15.
• A fourth support 51 is provided between the carriage 12 and the base of the upper mast element 7. The support 51 is constituted by the body of a rod articulated on the carriage 12, and by a pad fixed on the element Mast 7.
• A block 52 of the lifting block 13 on the carriage 12 is formed by the same rod, provided for this purpose with a pad fixed at its end.

Note that in the transport position (Figure 1), the upper mast element 7 is folded down on the lower mast element 6, while the arrow 11 is folded "snail"; the two mast elements 6 and 7, the jib foot 15, the intermediate jib member 17 and the jib tip 18 are then parallel to the fixed frame 1, and therefore substantially horizontal, while the folding element 16 of the boom 11 is arranged vertically, with the carriage 12, at the rear of the carrier vehicle 2.

In the example illustrated in the drawing, the working positions (FIGS. 2 and 6) are configurations with arrow 11, aligned or shortened, substantially horizontal. A working configuration with the arrow 11 raised, for example inclined by about 20 ° on the horizontal, can however be chosen, before any unfolding, by a prior adjustment of the length of the tie rod 26.

For example, here we consider the L1 unfolding sequence of the crane, with passage of the folded transport position (Figure 1) to the fully unfolded position of work (Figure 2). This sequence L1 is effected by passing through the intermediate positions illustrated in FIGS. 3, 4 and 5, and according to the logic diagram of FIG. 8.

• l'actionnement du deuxième vérin 22 dans le sens de sa sortie, pour le dépliage de la flèche 11 jusqu'à l'angle α de 33° (figure 3) ;
• par action du cinquième capteur 40, l'arrêt du mouvement précédent, et l'autorisation de l'actionnement du premier vérin 21 ;
• l'actionnement du premier vérin 21 dans le sens de sa sortie, pour le dépliage du mât 5 (figure 4) ;
• par action du deuxième capteur 37, la détection du dépliage complet du mât 5 (figure 5), et l'autorisation d'un nouvel actionnement du deuxième vérin 22 ;
• l'actionnement de ce deuxième vérin 22, toujours dans le sens de sa sortie, jusqu'à l'alignement des trois premiers éléments de flèche 15, 16 et 17 ;
• par action du troisième capteur 38, la détection de l'alignement de ces éléments de flèche 15, 16 et 17, l'arrêt du mouvement précédent et l'autorisation de l'actionnement du troisième vérin 23 ;
• l'actionnement du troisième vérin 23 dans le sens de sa sortie, pour le dépliage de la pointe de flèche 18 ;
• par action du huitième capteur 43, la détection de l'alignement de la pointe de flèche 18 avec l'élément intermédiaire de flèche 17, l'arrêt du dernier mouvement, et l'autorisation de mise en service de la grue.

Initially, the operator places the switch 33 on the position A, and the manipulator 34 in the "unfolding" position. The carriage 12 is located, initially, on the folding element 16 of the arrow 11, and it will retain this position during the entire unfolding sequence, which successively comprises:

• actuating the second cylinder 22 in the direction of its exit, for unfolding the boom 11 to the angle α of 33 ° (Figure 3);
• by action of the fifth sensor 40, stopping the previous movement, and authorizing the actuation of the first cylinder 21;
• actuating the first jack 21 in the direction of its exit, for unfolding the mast 5 (Figure 4);
• by action of the second sensor 37, the detection of the complete unfolding of the mast 5 (FIG. 5), and the authorization of a new actuation of the second jack 22;
• the actuation of this second jack 22, still in the direction of its output, until the alignment of the first three jib elements 15, 16 and 17;
• by action of the third sensor 38, the detection of the alignment of these boom elements 15, 16 and 17, the stopping of the previous movement and the authorization of the actuation of the third cylinder 23;
• actuating the third cylinder 23 in the direction of its exit, for unfolding the boom tip 18;
• by action of the eighth sensor 43, detecting the alignment of the boom tip 18 with the intermediate boom member 17, stopping the last movement, and authorization to commission the crane.

• intervention de l'appui 48 de l'élément de mât inférieur 6 sur le châssis fixe 1 ;
• intervention de l'appui 50 entre la pointe de flèche 18 et le pied de flèche 15 ;
• intervention de l'appui 49 entre l'élément intermédiaire de flèche 17 et le pied de flèche 15 ;
• intervention de l'appui 51 entre le chariot 12 et l'élément de mât supérieur 7 ;
• blocage en 52 de la moufle de levage 13 sur le chariot 12.

For the complete folding of the crane, the inverse sequence L2 is executed according to the logic diagram of FIG. 9. Moreover, during this folding of the crane with a view to its transport, the various supports mentioned above act in the following order ( at the end of folding):

• intervention of the support 48 of the lower mast element 6 on the fixed frame 1;
• intervention of the support 50 between the arrowhead 18 and the jib 15;
• intervention of the support 49 between the intermediate jib member 17 and the jib foot 15;
• intervention of the support 51 between the carriage 12 and the upper mast element 7;
• blocking 52 of the lifting block 13 on the carriage 12.

Finally, the logic diagrams of FIGS. 10 and 11 describe the L3 and L4 sequences for moving from the working position with aligned arrow (FIG. 2) to the working position with shortened arrow (FIG. 6), and vice versa. These sequences, simpler, involve only the second cylinder 22. Note that for the execution of the L3 and L4 sequences, the carriage 12 must be on the foot of arrow 15, which is the useful part of the arrow 11 shortened.

The various sequences, previously described, can be controlled at a single speed, or with a choice between two or more speeds.

• en remplaçant l'unité de commande séquentielle à relais par un automate ;
• en utilisant des capteurs de tout type, tels que des capteurs de fin de course à poussoir ou à galet ;
• en prévoyant des commutateurs à plus de deux positions ;
• en appliquant l'invention à des grues de configuration et cinématique différentes, par exemple à mât télescopique ou à mât pliable et télescopique, ou à flèche télescopique (les notions de "dépliage" et "repliage" englobant ici le télescopage), ou encore à flèche composée d'éléments en nombre différent, avec pliage de ces éléments "en escargot" ou "en accordéon" ;
• en adaptant les séquences de dépliage et de repliage à chaque configuration et cinématique particulière de grue ;
• en adaptant aussi le nombre et la disposition des capteurs à chaque configuration et cinématique particulière de grue ;
• en appliquant l'invention à des grues dont les mouvements de dépliage et de repliage sont, en partie ou totalement, commandés par des actionneurs autres que des vérins, par exemple par des treuils et des câbles.

One would not depart from the scope of the invention, as defined in the appended claims:

• replacing the sequential relay control unit with a PLC;
• using sensors of any type, such as push-button or roller limit switches;
• providing switches with more than two positions;
• applying the invention to different configuration and kinematic cranes, for example telescopic mast or foldable and telescopic mast, or telescopic boom (the concepts of "unfolding" and "folding" encompassing here the telescoping), or to arrow composed of elements in different numbers, with folding of these elements "snail" or "accordion";
• adapting the unfolding and folding sequences to each particular crane configuration and kinematics;
• also adapting the number and arrangement of the sensors to each particular crane configuration and kinematics;
• applying the invention to cranes whose unfolding and folding movements are, in part or totally, controlled by actuators other than cylinders, for example by winches and cables.

Claims (10)

1. A method for the safe command/control of the unfolding and folding of a tower crane with folding mast (5) and folding jib (11), to move from a folded transport position into an unfolded work position, or vice versa, or alternatively to move from a defined work position to another work position, the unfolding and folding movements being motorized by actuators such as rams (21, 22, 23), characterized in that it consists in selecting an unfolding or folding procedure defined by its initial position and its final position, in actuating the rams or other actuators in turn in a preestablished automatic sequence (L1, L2, L3, L4) corresponding to the selected procedure, and in controlling the running of this sequence by detecting arrival of mast (5) and/or jib (11) elements of the crane in intermediate positions and in the final position.
2. The method as claimed in claim 1, characterized in that the automatic sequence (L1, L2) for unfolding and folding of the crane comprises successive and/or alternate actuations of the rams or other actuators (21, 22, 23) for the unfolding/folding of the mast (5) and of the jib (11), each actuation of the ram or other actuator being interrupted by the detection of mast elements (6, 7) or jib elements (15, 16, 17, 18) arriving in a predetermined position, this detection then allowing the next ram or other actuator to be actuated.
3. The method as claimed in claim 1 or 2, characterized in that, in the case of a procedure for folding the crane to its folded transport position, the automatic folding sequence (L2) also comprises detection of mast elements (6, 7) and/or jib elements (15, 16, 17, 18) bearing against each other, or against elements of the chassis (1, 3) of the crane, and it may also comprise at least one action of locking in the folded transport position.
4. The method as claimed in any one of claims 1 to 3, characterized in that the procedures that can be selected comprise:

   - the move (L1) from the crane being in the fully folded transport position to the fully unfolded work position, the mast (5) being upright and the jib aligned and vice versa (L2);

   - the move (L3) from a work position with the jib (11) aligned, the mast (5) upright, into a work position with shortened jib (11), the mast (5) remaining upright, and vice versa (L4).
5. The method as claimed in any one of claims 1 to 4, characterized in that, in the case of a crane comprising a mast (5) made as two elements (6, 7) articulated together, and a jib (11) comprising a jib root (15), an intermediate jib element (17) and a jib tip (18), articulated together, if appropriate with the insertion of a jib folding element (16), while there are provided a first ram (21) for unfolding/folding the mast element (6, 7), a second ram (22) for the overall unfolding/folding of the jib (11), and a third ram (23) for unfolding/folding of the jib tip (18), these rams being associated with linkages (24, 25), the automatic sequence (L1) of unfolding the crane comprises, in succession :

   - actuating the second ram (22) to partially unfold the jib (11), the intermediate jib element (17) making an acute angle (α) with the jib root (15),

   - actuating the first ram (21) to fully unfold the mast (5) into an upright position,

   - actuating the second ram (22) to continue to unfold the jib (11) until the jib root (15) is aligned with the intermediate jib element (17), and

   - actuating the third ram (23) to align the jib tip (18) with the intermediate jib element (17).
6. The method as claimed in the combination of claims 4 and 5, characterized in that the automatic sequence (L3) removing the crane from the fully unfolded position with the jib (11) aligned into the work position with the jib (11) shortened involves actuating the second ram (22) only.
7. A device for the safe command/control of the unfolding and folding of a tower crane with folding mast (5) and folding jib (11), the unfolding and folding movements being motorized by rams or other actuators (21, 22, 23), characterized in that it comprises, in combination:

   - at least one switch (23) for manual selection of an unfolding or folding procedure defined by its initial position and its final position,

   - a sequential command unit for commanding the rams or other actuators (21, 22, 23) according to a selected procedure, and

   - a set of sensors (35 ; 36 to 47) designed detect the arrival of mast elements (6, 7) and/or jib elements (15, 16, 17, 18) of the crane in intermediate and final positions, these sensors being connected to the sequential command unit (32) commanding the rams or other actuators.
8. The device as claimed in claim 7, characterized in that it comprises a manual switch (33) having at least two positions (A, B) for selecting an unfolding or folding configuration defined by its two extreme positions, and a two-position command manipulator (34) for selecting unfolding or folding, the combinations of the actions on the switch (33) and on the manipulator (34) fully defining each unfolding or folding procedure (L1, L2, L3, L4).
9. The device as claimed in claim 7 or 8, characterized in that the sequential command unit (32) commanding the rams consists of a set of relays commanding electrically operated valves of a hydraulic unit (31) supplying the crane folding/unfolding rams (21, 22, 23).
10. The device as claimed in any one of claims 7 to 9, characterized in that the set of sensors (35) comprises inductive position sensors (36 to 47), fixed to mast elements or to jib elements (15, 16, 17, 18) of the crane, or alternatively to a chassis element (1, 3) of this crane to control the arrival in the folded transport position.

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