EP2123590B1 - Procédé de commande du mouvement d'orientation de la partie tournante d'une grue à tour - Google Patents

Procédé de commande du mouvement d'orientation de la partie tournante d'une grue à tour Download PDF

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Publication number
EP2123590B1
EP2123590B1 EP09158133A EP09158133A EP2123590B1 EP 2123590 B1 EP2123590 B1 EP 2123590B1 EP 09158133 A EP09158133 A EP 09158133A EP 09158133 A EP09158133 A EP 09158133A EP 2123590 B1 EP2123590 B1 EP 2123590B1
Authority
EP
European Patent Office
Prior art keywords
torque
crane
slewing
electric motor
maximum value
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.)
Active
Application number
EP09158133A
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German (de)
English (en)
French (fr)
Other versions
EP2123590A1 (fr
Inventor
Cédric Juraszek
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
Manitowoc Crane Group France SAS
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 Manitowoc Crane Group France SAS filed Critical Manitowoc Crane Group France SAS
Priority to PL09158133T priority Critical patent/PL2123590T3/pl
Publication of EP2123590A1 publication Critical patent/EP2123590A1/fr
Application granted granted Critical
Publication of EP2123590B1 publication Critical patent/EP2123590B1/fr
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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
    • B66C13/22—Control systems or devices for electric drives
    • 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
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • 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
    • B66C13/22—Control systems or devices for electric drives
    • B66C13/30—Circuits for braking, traversing, or slewing motors
    • 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
    • B66C23/04—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 with jibs the effective length of which is variable in operation, e.g. longitudinally displaceable, extensible
    • 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
    • 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
    • B66C23/88—Safety gear
    • 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
    • B66C23/88—Safety gear
    • B66C23/94—Safety gear for limiting slewing movements

Definitions

  • the present invention relates to the technical field of tower cranes. More particularly, this invention relates to the motorized control of the steering movement of the rotating upper part of a tower crane.
  • a tower crane is usually composed of two main parts, which are on the one hand a non-rotating vertical pylon also designated as “mast”, and on the other hand a rotating upper part, that is to say orientable around a vertical axis of rotation.
  • the rotating upper part mounted at the top of the mast, is itself composed of an arrow, which extends on one side of the vertical axis of rotation of this rotating part, and a counter-flange equipped with a ballast, which extends on the other side of the vertical axis of rotation.
  • the rotation of the rotating part about this vertical axis is controlled by a motorized assembly, using electrical energy, hereinafter referred to as the "electro-orientation mechanism".
  • an orientation ring consisting of two concentric rings, with a ring stationary connected to the top of the mast and with a movable ring secured to the rotating part, rings between which are mounted cylindrical balls or rollers.
  • the electro-orientation mechanism usually comprises an electric geared motor integral with this rotating part, which geared motor rotates a pinion with a vertical axis which meshes with a toothed wheel cut in the fixed ring of the orientation ring.
  • two or more geared motors are provided, each geared motor rotating a pinion engaging with the same gear.
  • the electro-mechanism of orientation of the crane is controlled by a computer which limits the value of the orientation torque to the maximum torque value which has been predefined.
  • the patent FR 1 544 012 discloses an orientation movement control for a tower crane (without counterflash) in which, in order to overcome a torque of resistance due to a strong wind, provision is made for the actuation of an auxiliary gear unit acting on the crown toothed gear mechanism, in addition to the main geared motor unit.
  • the present invention aims to avoid these disadvantages, and its purpose is therefore to facilitate the driving of a tower crane, in the sense of better control of the orientation movement of the rotating part of the crane in the presence of wind, this in a simple way and in particular without addition of auxiliary gearmotor.
  • the subject of the invention is essentially a method of motorized control of the orientation movement of the rotating upper part of a tower crane, the rotating part being composed of an arrow and a counterfleche and this part rotating being associated with an electro-mechanism of orientation comprising at least one electric geared motor with electric motor and gearbox, the electric motor of which is electrically powered so as to produce an orientation torque transmitted to the rotating part of the crane, this pair having a maximum value,
  • this method being characterized in that, when the crane is in service and for conditions comprising at least a wind speed greater than a given value, the maximum value of the steering torque that can be produced by the aforementioned electric motor is increased as long as these conditions persist.
  • the maximum value of the steering torque is increased in case of wind speed greater than a given value and for at least one additional condition, constituted by the fact that the length of the boom of the crane is greater than a value. given and / or that the moment of the load suspended under the arrow is greater than a given value or a given fraction of the maximum allowable moment.
  • the method of the invention provides, in particular, that the orientation torque can be increased, within the limit of the maximum value then increased, as a function of the angular position of the arrow and the wind direction, this in particular to increase the motor torque of the geared motor in the phases of "upwelling" by the arrow.
  • load moment means the product of the weight of the load, lifted by the crane, by the span which is the horizontal distance between this load and the crane mast (or the axis of the crane). rotation of the rotating part).
  • the various parameters, taken into account in the method of the invention, are provided by appropriate sensors and / or by calculation.
  • this can be obtained by calculation, from the weight of the load given by a ring strain gauge, and the range measured by a potentiometer located on the winch which serves to move the carriage along the arrow.
  • a moment sensor that directly provides the load moment by measuring the displacement of the torque bars.
  • the maximum value of the torque that can be provided by the motor of the electro-orientation mechanism is increased for example by 15%, when the previously defined conditions are met.
  • the mechanism then becomes capable of delivering more torque, provided that the crane operator requests a speed instruction such that this higher torque must be reached. No auxiliary gearmotor is necessary.
  • the method of the invention advantageously further comprises a comparison between the state of the input of the actuator, such as a frequency converter, and the order given by the computer, and in the case where the state of this entry does not correspond to the order given by the computer, it occurs an automatic setting in degraded mode of the electro-orientation mechanism, for example by reducing its speed.
  • the invention also relates to a device for implementing the method defined above, in a motorized control device for the orientation movement of the rotating upper part of a tower crane, this device generally comprising known an electro-orientation mechanism which comprises at least one electric gear motor with electric motor and gearbox, the electric motor of which is electrically powered so as to produce an orientation torque transmitted to the rotating part of the crane, this pair having a maximum value, an actuator such as a frequency converter being provided for controlling the motor of the electro-orientation mechanism, this device being characterized by the fact that it comprises a computer provided with inputs that allow it to determine the wind speed and other parameters such as the length of the boom of the crane and the moment of the load suspended under the boom, and an output which is connected to an input of the actuator such as a frequency converter and which is suitable to deliver to this actuator, as a function of the parameters processed, an order authorizing an increase in the maximum value of the orientation torque.
  • an electro-orientation mechanism which comprises at least one electric gear motor with electric motor and gearbox, the electric motor of which is electrically
  • the device of the invention makes it possible to increase punctually the engine torque of the electro-orientation mechanism, controlled by the frequency converter, to facilitate the driving of the crane in the presence of a wind of a certain strength.
  • a tower crane comprises, in general, a mast 2 and a rotating part 3, mounted at the top of the mast 2.
  • the mast 2 rises above a base frame fixed 4, which also carries a base ballast 5.
  • This mast 2 is constituted by the assembly of a number of superposed mast elements, and it comprises a telescoping cage 6 for raising the mast by adding mast elements.
  • the rotating part 3 of the crane consists of an arrow 7 directed towards “the front”, and a counter-flange 8 aligned with the arrow 7 but directed to the opposite, that is to say towards “the rear ", this rotating part 3 being orientable about a vertical axis A which coincides with the central axis of the mast 2.
  • the arrow 7 serves as a runway for an arrow carriage 9, under which is suspended a lifting hook 10 which can be hung a load C.
  • the load C can be moved in a horizontal movement called “distribution” (arrow D ), and also according to a vertical movement called lifting (arrow H).
  • the counterfleche 8 is equipped at the rear with a ballast 11 which at least partially balances the weight of the boom 7 and the load C lifted by the hook 10.
  • an electro-orientation mechanism 12 is disposed between the rotating part 3 and the top of the mast 2, this mechanism 12 also being located between the arrow 7 and the counter-flap 8.
  • the orientation mechanism 12 comprises a fixed orientation ring 13, carried by the top of the mast 2, and a rotating pivot 14 integral with the rotating part 3.
  • this mechanism 12 also comprises two similar geared motors 15, carried by the rotating pivot 14, each geared motor 15 consisting of an electric motor 16 and a gearbox 17.
  • the output shaft of each gearbox 17 carries a pinion with a vertical axis, which meshes with a toothed wheel 18 cut in the ring gear.
  • orientation 13 The two geared motors 15, more particularly their electric motors 16, are controlled by a frequency converter 19. The latter is itself controlled by the crane operator, posted in the driver's cab 20 of the crane, in particular for receiving r start and stop commands, and direction of rotation, as well as a speed reference.
  • a computer 21 with specific functions, which comprises various inputs 22, 23, 24 and an output 25, which is connected to an input of the frequency converter 19.
  • a first input 22 of the computer 21 is connected to an anemometer 26 which is carried by the crane, and which thus provides the computer 21 with a signal V representative of the wind speed in the immediate environment of the crane.
  • a second input 23 of the computer 21 is connected to a sensor 27 which indicates the range L, that is to say the horizontal distance between the boom carriage 9, thus the load C on the one hand, and the vertical axis On the other hand.
  • a third input 24 of the computer 21 is connected to a stress gauge torque ring 28, placed on a pulley which supports the lifting cable, which provides a signal representative of the weight P of the load C suspended from the lifting hook 10.
  • the computer 21 determines the instantaneous wind speed, and simultaneously it calculates the load moment, as a product of the range L and the weight P of the load C, in other words by multiplying the signal L received at the second input 23 by the signal P received at the third input 24.
  • the computer 21 "also" knows the parameter constituted by the total length Lf of the arrow 7, on which the wind is measured.
  • the output 25 of the computer 21 delivers an operating authorization signal S with a maximum increased orientation torque, for example a torque increased by 15% compared to the usual maximum value.
  • This authorization signal S is brought to an input of the frequency converter 19 which drives the respective electric motors 16 of the geared motors 15.
  • the computer 21 can also take into account two other parameters, which are the instantaneous angular position (angle "alpha 1") of the arrow 7, and the direction of the wind (angle "alpha 2").
  • the angular position "alpha 1" of the arrow 7 may be provided by an orientation sensor associated with the electro-orientation mechanism 12, such as the sensor described in the patent document. FR 2 907 109 supra.
  • the direction of the "alpha 2" wind is indicated by a specific sensor of the "wind vane” type installed on the crane.
  • the computer 21 can thus determine, by comparing the "alpha 1" orientation of the arrow 7 and the "alpha 2" wind direction, whether a controlled rotation of the arrow 7 corresponds to a rise to the wind requiring a driving torque most important. If the authorization for increasing the maximum value of the orientation torque is present (in case of meeting the conditions explained above), an order in the form of the signal S is emitted and the engine torque can thus be effectively increased in the phases of upwelling. This command is coupled to the speed control and in particular to the speed setpoint given by the crane operator.
  • the state of the input of the frequency converter 19 is constantly monitored, through a return link 30, to ensure that this input has not been switched off by the user. If the state of this input does not correspond to the order S given to the output 25 of the computer 21, then the electromechanism of orientation 12 is automatically put in degraded mode by the computer 21. In particular, the computer 21 sends then at another input of the frequency converter 19 a particular speed setpoint Vc, imposing a speed reduction for the orientation movement of the rotating part 3 of the crane.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
EP09158133A 2008-05-22 2009-04-17 Procédé de commande du mouvement d'orientation de la partie tournante d'une grue à tour Active EP2123590B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL09158133T PL2123590T3 (pl) 2008-05-22 2009-04-17 Sposób sterowania ruchem orientującym części obrotowej żurawia wieżowego

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0802785A FR2931466B1 (fr) 2008-05-22 2008-05-22 Procede de commande du mouvement d'orientation de la partie tournante d'une grue a tour

Publications (2)

Publication Number Publication Date
EP2123590A1 EP2123590A1 (fr) 2009-11-25
EP2123590B1 true EP2123590B1 (fr) 2012-04-04

Family

ID=40220153

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09158133A Active EP2123590B1 (fr) 2008-05-22 2009-04-17 Procédé de commande du mouvement d'orientation de la partie tournante d'une grue à tour

Country Status (12)

Country Link
US (1) US8235230B2 (zh)
EP (1) EP2123590B1 (zh)
KR (1) KR20090122134A (zh)
CN (1) CN101585487B (zh)
AT (1) ATE552205T1 (zh)
BR (1) BRPI0901558A2 (zh)
DK (1) DK2123590T3 (zh)
ES (1) ES2384538T3 (zh)
FR (1) FR2931466B1 (zh)
PL (1) PL2123590T3 (zh)
PT (1) PT2123590E (zh)
RU (1) RU2499762C2 (zh)

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DE102010056584B4 (de) * 2010-12-30 2018-03-29 Asm Automation Sensorik Messtechnik Gmbh Mobile Arbeitsmaschine
CN102491178B (zh) * 2011-12-15 2014-07-09 中联重科股份有限公司 起重机回转控制的方法与系统
CN102530730B (zh) * 2012-01-30 2013-02-13 中联重科股份有限公司 一种回转机构的控制系统及塔式起重机
DE102012010759A1 (de) 2012-05-31 2013-12-05 Wolffkran Holding Ag Elektrohydraulische Vorrichtung zur Verstellung eines Auslegers
DE202012009167U1 (de) * 2012-09-24 2014-01-08 Liebherr-Werk Biberach Gmbh Kran
US9062824B2 (en) * 2013-03-12 2015-06-23 Konecranes Plc Head assembly for jacking tower
DE202013003782U1 (de) * 2013-04-22 2013-05-07 Manitowoc Crane Group France Sas Sensorbasierte Überwachung von Windrichtung und Wärmeeinstrahlung für ein mobiles Arbeitsgerät
CN103274299B (zh) * 2013-06-21 2015-10-28 中联重科股份有限公司 塔式起重机及其回转控制系统和回转控制方法
CN103539024A (zh) * 2013-11-07 2014-01-29 徐道乐 一种塔机一体化集成控制器
CN103640977B (zh) * 2013-11-19 2015-10-14 中联重科股份有限公司 回转控制方法、装置及系统、塔式起重机
DE202014001801U1 (de) * 2014-02-26 2015-05-27 Liebherr-Components Biberach Gmbh Kran
DE102016001037A1 (de) * 2016-02-01 2017-08-03 Liebherr-Werk Biberach Gmbh Verfahren zur Windfreistellung einer Arbeitsmaschine sowie Arbeitsmaschine zur Verfahrensausführung
FR3053322B1 (fr) * 2016-06-30 2020-12-04 Manitowoc Crane Group France Installation et procede de support incluant une grue a tour pour supporter un cable electrique de ligne a haute tension
CN110844788B (zh) * 2019-11-05 2022-03-08 湖南沃森电气科技有限公司 一种塔式起重机回转控制系统及其控制方法
CN111232858B (zh) * 2020-03-20 2021-06-29 陕西建设机械股份有限公司 一种用于塔机的转动惯量保护系统及塔机
FR3112336B1 (fr) * 2020-07-07 2022-07-08 Manitowoc Crane Group France Grue à tour avec détection d’un état d’autorotation ou d’oscillation d’une partie tournante en configuration hors service
CN113401803B (zh) * 2021-05-18 2022-05-17 中联重科股份有限公司 用于测定塔式起重机臂长的方法、装置及控制器

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Also Published As

Publication number Publication date
BRPI0901558A2 (pt) 2010-05-04
CN101585487A (zh) 2009-11-25
EP2123590A1 (fr) 2009-11-25
ES2384538T3 (es) 2012-07-06
US8235230B2 (en) 2012-08-07
PL2123590T3 (pl) 2012-09-28
RU2499762C2 (ru) 2013-11-27
KR20090122134A (ko) 2009-11-26
PT2123590E (pt) 2012-06-18
FR2931466A1 (fr) 2009-11-27
CN101585487B (zh) 2013-10-09
FR2931466B1 (fr) 2011-01-07
US20100006530A1 (en) 2010-01-14
ATE552205T1 (de) 2012-04-15
RU2009119295A (ru) 2010-11-27
DK2123590T3 (da) 2012-07-16

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