EP1818309A1 - Commande de grue - Google Patents

Commande de grue Download PDF

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Publication number
EP1818309A1
EP1818309A1 EP07002605A EP07002605A EP1818309A1 EP 1818309 A1 EP1818309 A1 EP 1818309A1 EP 07002605 A EP07002605 A EP 07002605A EP 07002605 A EP07002605 A EP 07002605A EP 1818309 A1 EP1818309 A1 EP 1818309A1
Authority
EP
European Patent Office
Prior art keywords
crane
control
control according
modules
control modules
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.)
Withdrawn
Application number
EP07002605A
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German (de)
English (en)
Inventor
Franke Henning
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.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from EP06002644A external-priority patent/EP1818308A1/fr
Application filed by Individual filed Critical Individual
Priority to EP07002605A priority Critical patent/EP1818309A1/fr
Publication of EP1818309A1 publication Critical patent/EP1818309A1/fr
Withdrawn legal-status Critical Current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
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices

Definitions

  • the invention relates to a crane control according to the preamble of claim 1.
  • a crane control in the context of this invention is to be understood to mean a control for load cranes which controls the movements of the crane, such as the movement of a crane carriage along a crane jib or the lifting of a load on the crane by means of a crane winch.
  • a crane control can also be designed to record and evaluate process-specific parameters.
  • Cranes for lifting heavy loads are well known and have been used for a very long time. Cranes are found in a variety of applications, e.g. As a free-standing scaffolding cranes on construction sites, as integrated in halls factory cranes for lifting, for example, container loads in port areas or the like. For the purposes of this invention cranes are all those constructions to understand that can raise heavy loads and move or move with motor drive.
  • Such cranes already have standard controls, over which the various possible movements be coordinated within the crane to perform a desired operation.
  • motors are controlled by such controls for moving a crane bridge or a crane jib, motors for moving a crane truck on a crane boom or a crane bridge, motors for pivoting the crane boom and motors for rolling a lifting rope with load hook and load on it.
  • Such known controls typically have an electromechanical, more rarely an electronic control element which is mounted in a high-altitude part of the crane, e.g. the crane boom, the crane bridge or the like. Is arranged.
  • a so-called control pear is provided in many cases, can be entered from the operator on the ground command signals for operating the crane in the controller.
  • This control pear like other controls, is typically connected to the central controller via a cable connection through which individual signals are fed to the central controller.
  • a crane control with the features according to the preamble of claim 1 is known.
  • This has decentralized nodes that can independently perform control tasks and also communicate wirelessly with each other.
  • the individual components of the crane and crane control are identified by serial numbers and tied together to form a system. Any number of controllers can be integrated into this system.
  • the system is also operational when the connection to individual components is interrupted.
  • the basic idea of the invention is the overall crane control in a modular manner in two with respect to the crane control and their monitoring to split equivalent control modules.
  • the control modules are to be connected to one another via a full-value, bidirectional, wireless point-to-point data connection in the sense of a bus connection.
  • a wireless, bi-directional point-to-point connection allows for real data exchange between exactly two control modules and not just a radio control over certain line channels.
  • the wireless data connection according to the invention can be configured by means of suitable software, without making a cumbersome wiring, as it must ultimately be given in the known radio devices (correct wiring of the radio transmitter or radio receiver with the respective modules). This allows a quick and reliable change of the two control modules cooperating to form the crane control.
  • control characteristics according to the invention ensures that a function of the crane can be carried out only when the connected control modules are fully functional as well as verifiable (bidirectional) stable data connection between the control modules. This avoids the danger otherwise present in open architectures of malfunctioning of the crane with the possible serious consequences.
  • control modules In principle, more than two control modules can be available for the formation of the crane control, the crane control currently, however, being constructed in each case from only two modules cooperating in the manner according to the invention.
  • a presently preferred example of such a full bi-directional wireless data connection is a Bluetooth connection (see claim 8).
  • other wireless data connections are possible as long as they provide a full point-to-point bus line.
  • the crane control can be modular and adapted to the respective needs by selecting the cooperating control modules, wherein e.g. standard control modules can be used.
  • the crane control is also easily expandable, in particular it is e.g. It is possible to provide interfaces with which the controller can be connected via a control module to an intranet or to the Internet (cf claim 9). It is also possible, in the crane control according to the invention, to provide a central control computer arranged outside the crane (see claim 10), which is e.g. via intranet with multiple control modules for controlling multiple cranes in connection or via multiple point-to-point connections or by quickly switching a point-to-point connection with several other control modules and together with these forms parallel or sequential multiple crane controls , In this way, e.g. In a complex storage or assembly hall, the control of several cranes can be realized via a single central computer, without restricting the local operation and the possibility of a targeted intervention in the workflow of a particular crane.
  • the preferred use of the Bluetooth technology is particularly distinguished, since it can be realized very disturbance-prone by external interference. This is especially important in order to preclude accidentally sending control signals sent to one crane Reach the crane and cause unwanted and dangerous malfunctions there.
  • one of the at least two control modules is set up with an input / output module (cf claim 2).
  • the control unit with input / output module may be a hand-held by an operator handset, similar to a "control pear" known crane controls, be (claim 3).
  • a microcomputer can also be arranged, which can also be present in other control modules - if necessary only there - (claim 4).
  • the crane control further comprise state sensors which are connected to at least one of the modules for the evaluation of the data (claim 5).
  • state sensors are connected to at least one of the modules for the evaluation of the data (claim 5).
  • the determined data of these sensors are displayed via channels of an operator that are separate from the actual crane control.
  • the inventive advantage of the advantageous development lies in the fact that the signals of such sensors (possibly with the interposition of a preamplifier) are introduced into the controller, where they centrally mitverarbeitet and either for the control of the workflow (for example, the signals of Endanschlagsensoren) are used or but can be displayed to an operator.
  • These signals from the sensors or by the controller Data calculated therefrom can be transmitted via the inventively provided, full-value, bidirectional, wireless point-to-point data connection.
  • actuators in particular motors for moving crane parts, and sensors can also be connected to at least one of the control modules via one or more bidirectional point-to-point data connections. This allows the further saving of towed cable strands (claim 6).
  • the crane control system has an electronic storage medium in order to record operating data of the crane or the like (claim 11).
  • a storage medium e.g. a "log book" of the crane are led to monitor operating conditions or detect malfunctions.
  • a solution as described in claim 12 allows a particularly robust and low-wear supply of a control module with the required energy.
  • complex cable harnesses are routed to the one hand for the supply to the other for data exchange in known crane controls, now a pure sliding contact for the voltage or power supply is sufficient.
  • the solution of a sliding contact is much less susceptible than towed cables, e.g. be subject to the risk of cable breaks due to frequent changes in position or position.
  • the invention means a considerable flexibility in the construction of a crane control and is also compared to conventional crane controls with classic wiring associated with significant savings in material and assembly time.
  • a classic, cabled control by replacing a classic, cabled control by a crane control according to the invention, about 200 to 300 kg of copper lines and the associated rail systems for attachment of the lines and about 2 days assembly work can be saved.
  • the crane control according to the invention is distinguished despite its modular design and wireless communication by a particularly high level of reliability.
  • the subject of the invention is also a crane equipped with a control as described above.
  • FIG. 1 is a schematic plan view of a crane girder 1 with a crane truck 2 running thereon.
  • the crane truck 2 runs with sliding contacts, not shown here
  • a control line 10 according to the invention (see Figures 2 and 3) integrated by the interaction of the control modules 11 and 12 or the control modules 11 and 13 is integrated in the crane ,
  • a total of three modules are provided for the system, a first control module 11 with a microcomputer on the crane truck 2, a second control module 12 laterally on the crane girder 1 and a third control module 13, which serves as an input / output module and realized as a so-called "tax pear".
  • the control module 13 is thus a hand-held device, which can be used by an operator, for example, below the crane girder 1 on a hall floor operator for controlling the crane.
  • the individual control modules 11, 12 and 13 can be connected to one another in pairs via a Bluetooth point-to-point data connection, which is indicated by corresponding radio symbols 14. In a respective pair connection, the control module 11 with a respectively selected control module 12 or 13 then form the crane control 10.
  • this radio link 14 which is designed here as a Bluetooth connection, data can be exchanged between two of the individual control modules 11, 12, 13 by way of a full-value and bidirectional point-to-point data connection.
  • a separate microcomputer is integrated in the control module 13 (the control bulb).
  • the switches or buttons serving as input elements are interrogated and, when this control module 13 is integrated into the crane control 10, corresponding control instructions are generated.
  • a display 15 for example in the form of an LCD display, arranged over which an operator individual operating conditions or - characteristics can be displayed.
  • values determined by sensors connected to the control such as the weight of a load suspended on the crane, can be displayed.
  • the controller 10 is shown once again schematically.
  • the controller 10 is formed by cooperation of the control modules 11 and 12 or the control modules 11 and 26.
  • sensors such as cruise control switch 17, Spindelendschalter 18 and laser sensors 19 are connected.
  • Strain gauges arranged in the region of the load hook can be connected with their signals to the data acquisition.
  • the signals of the sensors 17, 18, 19 and other sensors can be fed to the control module 11 either directly or via amplifiers.
  • the data transfer between the sensors 17, 18, 19 and the control module 11 can be carried out both wired and wireless, in particular via a Bluetooth connection.
  • the control module 11 accomplishes the activation of the actuators, here motors.
  • Standard Bluetooth service routines used for communication make it possible to keep the system open for new or further control modules to be used alternatively to the crane controller 10.
  • the control module 12 contains according to this scheme tactile sensors 20, button 21 and a code sensor 22. These are used for data acquisition and are correspondingly connected in software in this control module 12. Furthermore, this control module 12 contains a data storage.
  • the control module 26 is equipped with a LAN interface via which it can receive control commands and provide status data.
  • a workstation 23, a PLC / server 24 as well as an access to the Internet 25 are connected.
  • Fig. 3 the internal structure of the data processing in the control modules is schematically illustrated.
  • Task A processes the sensor data.
  • Task B calculates the actuator control. Both tasks are monitored by Task C and stopped in an emergency.
  • Task C generates a dynamic release which is transmitted to the control module 13 together with the sensor data.
  • Sensor data is also processed in control module 13 (task A2) and the actuator control is calculated (task B). This is monitored by task C2.
  • the dynamic release from controller 11 and a static release from task C2 and inputs of a user via the controls are transmitted to the control module 11. Only when dynamic and static release and matching calculations of the actuator control in control module 11 are present, a control of the actuators can be done.
  • the data flows in a circle. The control is protected against faults.
  • controller 10 basically represents a secured but nevertheless modular and extensible system which can be equipped with further hardware modules as well as expanded by means of software-based solutions.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
EP07002605A 2006-02-09 2007-02-07 Commande de grue Withdrawn EP1818309A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP07002605A EP1818309A1 (fr) 2006-02-09 2007-02-07 Commande de grue

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP06002644A EP1818308A1 (fr) 2006-02-09 2006-02-09 Commande de grue
EP07002605A EP1818309A1 (fr) 2006-02-09 2007-02-07 Commande de grue

Publications (1)

Publication Number Publication Date
EP1818309A1 true EP1818309A1 (fr) 2007-08-15

Family

ID=38234994

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07002605A Withdrawn EP1818309A1 (fr) 2006-02-09 2007-02-07 Commande de grue

Country Status (1)

Country Link
EP (1) EP1818309A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106744328A (zh) * 2016-11-28 2017-05-31 广西大学 一种随车吊车控制装置
CN111807226A (zh) * 2020-07-23 2020-10-23 武汉轻工大学 塔式起重机及控制方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0347368A1 (fr) * 1988-06-16 1989-12-20 MANNESMANN Aktiengesellschaft Installation de manoeuvre d'une grue
US20020111712A1 (en) * 2001-02-12 2002-08-15 Peshkin Michael A. Modules for use in an integrated intelligent assist system
DE10151883A1 (de) * 2001-10-20 2003-05-08 Schmalz J Gmbh Pneumatische Unterdruckhandhabungseinrichtung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0347368A1 (fr) * 1988-06-16 1989-12-20 MANNESMANN Aktiengesellschaft Installation de manoeuvre d'une grue
US20020111712A1 (en) * 2001-02-12 2002-08-15 Peshkin Michael A. Modules for use in an integrated intelligent assist system
DE10151883A1 (de) * 2001-10-20 2003-05-08 Schmalz J Gmbh Pneumatische Unterdruckhandhabungseinrichtung

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106744328A (zh) * 2016-11-28 2017-05-31 广西大学 一种随车吊车控制装置
CN111807226A (zh) * 2020-07-23 2020-10-23 武汉轻工大学 塔式起重机及控制方法

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