EP2455321B1 - A method for damping oscillations and a crane provided with an oscillation damper - Google Patents

A method for damping oscillations and a crane provided with an oscillation damper Download PDF

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Publication number
EP2455321B1
EP2455321B1 EP11187807.0A EP11187807A EP2455321B1 EP 2455321 B1 EP2455321 B1 EP 2455321B1 EP 11187807 A EP11187807 A EP 11187807A EP 2455321 B1 EP2455321 B1 EP 2455321B1
Authority
EP
European Patent Office
Prior art keywords
boom
hydraulic
pressure
brake mechanism
cylinder
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.)
Not-in-force
Application number
EP11187807.0A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2455321A1 (en
Inventor
Fredrik Jonsson
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.)
CRANAB AB
Original Assignee
CRANAB AB
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 CRANAB AB filed Critical CRANAB AB
Publication of EP2455321A1 publication Critical patent/EP2455321A1/en
Application granted granted Critical
Publication of EP2455321B1 publication Critical patent/EP2455321B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/005—Grab supports, e.g. articulations; Oscillation dampers; Orientation
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations

Definitions

  • the present invention relates to a method and a device for providing oscillation damping in a hydraulically operated crane.
  • the invention relates to a crane having a loading tool attached to a slewable boom.
  • Such cranes are generally occurring, for example, in the forestry business for the loading of timber. It is in that connection, a generally familiar fact that it is difficult for the operator to bring the loading tool quickly and securely into an exact position for engagement with the cargo to be lifted.
  • DE 42 16 241 A1 discloses a damping device for damping pendling movements of a hydraulic crane. It includes a double acting hydraulic setting device connected to a hydraulic circuit for slewing the crane. There is a damping device arranged in a by-pass conduit which has a throttling portion in series with a hydraulic piston-cylinder arrangement movable between two end positions. The disclosed device however does not solve the above mentioned problem.
  • the hydraulic regulation of the boom embraces an operator-independent pressure detection provided for a rotator link belonging to the working tool and intended for the counteraction of undesired oscillations of the loading tool.
  • the pressure detection is advantageously effected on a hydraulic slew device arranged for the slewable boom and produces pressure information that is fed into a break means that, in the rotator link between the loading tool and the outer end of the boom, damps the oscillatory motion of the loading tool.
  • the oscillation damping is effected by the break means acting against at least one joint of the rotator link.
  • a rotator link belonging to the loading tool has a hydraulically actuated brake mechanism, the regulation of which is operator-independently pressure sensed for the counteraction of undesired oscillations of the loading tool.
  • the brake mechanism is formed with a hydraulically actuated brake, which, via a line, is coupled to a hydraulic slew device arranged for the slewable boom for the receipt of pressure information.
  • the rotator link is preferably double jointed and at least one of the joints thereof is formed with the hydraulically actuated brake mechanism.
  • the brake mechanism advantageously embraces a piston/cylinder device where the cylinder is coupled to one joint of the rotator link, the one joined to the loading tool.
  • the piston rod projecting into the cylinder is coupled to the other joint of the rotator link, the one joined to the boom of the crane.
  • the pressure detection is preferably effected on a hydraulic slew device - arranged for the turning of the slewable boom - for the receipt of pressure information from the same.
  • This pressure information from the hydraulic slew device arranged for the slewing of the boom is conveyed to the chamber in the cylinder of the break means via an axially extending channel in the piston rod projecting into the cylinder.
  • the pressure information is extracted from the hydraulic slew device, drive motor, of the boom in the hydraulic chamber of which pressure variations are produced upon the slewing of the boom.
  • a pressure detecting system is coupled to the hydraulic chamber of the drive motor for the transfer of the pressure information to the piston/cylinder device of the break means in the rotator link of the loading tool.
  • the pressure-sensing system embraces a shuttle valve connected to the hydraulic chamber of the drive motor in order to, via a pressure-indicating line, forward the occurring pressure present during the shewing of the boom to the cylinder in the break means of the loading tool.
  • the shuttle valve allows braking upon both acceleration and retardation of the slew motion of the boom.
  • the invention furthermore relates to a crane that comprises a device for damping oscillations in accordance with what has been mentioned above.
  • the oscillation damping according to the present invention which is operator-independent, automatic and self-locking, will be exemplified in an application of a crane 1 known per se , as shown in Fig. 1 .
  • This crane 1 has a boom 2 that comprises different, hydraulically driven regulating parts irrelevant to the present invention.
  • the boom 2 is fixedly anchored on a support, for example on a lorry/truck chassis (not shown), by means of a hydraulically driven slew device 6.
  • a loading tool in the form of a grip 3.
  • the boom 2 is slewable in the horizontal plane around the vertical axis 7 of the slew device 6. This slewing is operated by means of the hydraulically driven slew device 6.
  • the slew device 6 In the operation of the boom 2, the slew device 6 is thus brought to slew the same for adjustment into a position where the cargo to be lifted is placed. A certain technique is required of the operator conducting the crane in order to get the grip 3 into the correct position. Even if it is known to form the rotator 4 with a brake mechanism having oscillation dampers, the grip 3 will still obtain an undesired oscillation.
  • the present invention embraces an operator-independent pressure detection in the hydraulically driven slew device 6.
  • a pressure indication or pressure information is obtained that is fed to an oscillation damping rotator link 14 belonging to the rotator 4.
  • FIG. 2 This figure illustrates the invention in connection with a slew device 6 known per se and a rotator link 14 known per se . Therefore, it should be entirely clear to the reader that the invention is applicable also in other embodiments of slew devices and oscillation dampers for cranes.
  • the crane is equipped with a hydraulic slew device 6 that can slew the crane boom both clockwise and counter clockwise.
  • the hydraulics of the slew device 6 may be made as any hydraulic drive motor having hydraulic pressure chambers, but in the embodiment described herein, it embraces four actuator cylinders 11A, 11B, 12A, 12B, the pistons of which drive a gearwheel D for the slewing of the boom to the right or the left depending on the position of an operator-actuated actuator valve V.
  • the actuator valve V has three positions: L, 0 and R for the connection of the slew device 6 to a hydraulic source S.
  • the slew device 6 In the intermediate position 0, the slew device 6 is locked while the positions L and R feed the cylinders 11A, 11 B, 12A, 12B of the slew device 6 from the hydraulic source S for the slewing of the boom to the left and to the right, respectively.
  • the rotator link 14 known per se embraces a brake mechanism 16, 18. Furthermore, in this embodiment, the rotator link 14 is double jointed 5, 19, where at least one of the joints is actuatable by a brake function.
  • the brake mechanism 16, 18 of the rotator link 14 embraces a piston/cylinder device interconnected between the two joints 5, 19. The piston rod 16 is then joined to the joint 5 directed perpendicular to the plane of the drawing while the cylinder 18 is coupled to the joint 19 extending in the plane of the drawing.
  • the piston rod 16 is provided with a channel 17, which mouths in a chamber 20 formed by the cylinder 18.
  • the channel 17 is connected to a shuttle valve 10 via the line 9.
  • the shuttle valve 10 is joined to the slew device 6 for the output of the pressure that prevails in the hydraulics thereof in the slewing of the boom of the crane.
  • the shuttle valve 10 supplies said hydraulic pressure to the rotator link 14 and the piston/cylinder device 16, 18 arranged therein.
  • the shuttle valve 10 allows braking upon both acceleration and retardation of the slew motion of the boom.
  • the actuator valve V which is spring-loaded so as to normally assume the middle position 0, is brought into one of the outer positions, for example into L, for the slewing of the boom to the left.
  • the cylinder 11 B is pressurized from the hydraulic source S, while the cylinder 12B is pressure-relieved.
  • a pressure is then obtained (a pressure change, pressure increase, pressure pulse) that, via the shuttle valve 10 and the line 9, is supplied to the piston/cylinder device 16, 18 of the rotator link 14.
  • the slew device may equally well be hydraulic components of another embodiment where pressure detection may take place, and the rotator link may be designed differently with pressure action by, for example, drum brakes or disc brakes.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
  • Micro-Organisms Or Cultivation Processes Thereof (AREA)
EP11187807.0A 2010-11-19 2011-11-04 A method for damping oscillations and a crane provided with an oscillation damper Not-in-force EP2455321B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1051216A SE535364C2 (sv) 2010-11-19 2010-11-19 Svängningsdämpning och lastkran utrustad med sådan

Publications (2)

Publication Number Publication Date
EP2455321A1 EP2455321A1 (en) 2012-05-23
EP2455321B1 true EP2455321B1 (en) 2014-01-01

Family

ID=45346210

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11187807.0A Not-in-force EP2455321B1 (en) 2010-11-19 2011-11-04 A method for damping oscillations and a crane provided with an oscillation damper

Country Status (2)

Country Link
EP (1) EP2455321B1 (sv)
SE (1) SE535364C2 (sv)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI126943B (sv) * 2016-03-10 2017-08-15 Vallius Forestry Oy Ltd Hänke

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2262942C3 (de) * 1972-12-22 1978-11-02 Massey-Ferguson Services N.V., Curacao (Niederlaendische Antillen) Pendelbremse für hydraulische Greifer
GB2009351B (en) * 1977-12-06 1982-05-26 Poclain Sa Device for the rotary assembly of a member controlled by pressurised fluid
SE508992C2 (sv) * 1991-05-22 1998-11-23 Einar Karlsson Anordning för att dämpa svängningar i en hydraulisk lastkran
DE9418697U1 (de) * 1994-11-22 1996-03-21 Kinshofer Greiftechnik GmbH, 83666 Waakirchen Lastaufnahmeeinrichtung

Also Published As

Publication number Publication date
SE535364C2 (sv) 2012-07-10
SE1051216A1 (sv) 2012-05-20
EP2455321A1 (en) 2012-05-23

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