EP2821360A1 - Kran aus teleskopischen Segmenten und Steuerungsverfahren dafür - Google Patents

Kran aus teleskopischen Segmenten und Steuerungsverfahren dafür Download PDF

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Publication number
EP2821360A1
EP2821360A1 EP13380028.4A EP13380028A EP2821360A1 EP 2821360 A1 EP2821360 A1 EP 2821360A1 EP 13380028 A EP13380028 A EP 13380028A EP 2821360 A1 EP2821360 A1 EP 2821360A1
Authority
EP
European Patent Office
Prior art keywords
segment
crane
articulated joint
segments
rotation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP13380028.4A
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English (en)
French (fr)
Other versions
EP2821360B1 (de
Inventor
Albert Padullés Omedes
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.)
Palvi SL
Original Assignee
Palvi SL
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Filing date
Publication date
Application filed by Palvi SL filed Critical Palvi SL
Priority to EP13380028.4A priority Critical patent/EP2821360B1/de
Priority to PL13380028T priority patent/PL2821360T3/pl
Priority to ES13380028.4T priority patent/ES2568617T3/es
Priority to PCT/IB2014/000953 priority patent/WO2015001401A1/en
Priority to CN201480038175.XA priority patent/CN105358469B/zh
Publication of EP2821360A1 publication Critical patent/EP2821360A1/de
Application granted granted Critical
Publication of EP2821360B1 publication Critical patent/EP2821360B1/de
Active 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
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/0203—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto with crane-like mechanisms
    • 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
    • B66C23/54—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 pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • 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
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration

Definitions

  • the present invention relates to a crane of telescopic segments mounted on a moving platform provided with two articulated joints perpendicularly arranged relative to each other, allowing the correction of deviations of the crane end from the vertical in case the moving platform is not horizontal due to the conditions of the corresponding bearing area.
  • the invention also relates to a control method of said crane and to the actuator means of said articulated joints so as to carry out corrections that will allow to automatically recover the verticality of said crane end at any time.
  • Cranes with telescopic segments, mounted on a moving platform or vehicle so as to enable their movement are known, such as, for instance, the crane described in document EP 1084069 , wherein a first vertical segment acts as a rail for the vertical movement of a second horizontal telescopic segment in whose end an engagement device is arranged so as to grasp and lift loads.
  • This invention does not allow altering the angles between the crane segments, so that any tilt of the vehicle or of the terrain where it is outrigged will produce inclined lifting conditions of the load.
  • Document WO 2012032438 which constitutes the preamble of claim 1, discloses a crane with mutually articulated telescopic segments that comprise first and second telescopic segments and a third segment with an engagement device in its more distal end, wherein a first articulated joint arranged between the first and second segments allows altering the angle that said two segments form therebetween relative to a vertical plane including both, hereinafter the working plane.
  • said first articulated joint allows reducing the crane envelope in the retracted position, and increasing its vertical reach in the working position, but it does not allow correcting the verticality of said third segment relative to a vertical plane perpendicular to said working plane. So, if the crane were outrigged on terrain having a sideways slope, the segments would suffer from the same sideways tilt -their correction being impossible- and, when lifting a load, unexpected shifts and undesirable stresses might occur on the segments and the crane base.
  • the present invention helps to solve the above and other disadvantages through a crane of telescopic segments mounted on a moving platform and a method for controlling the actuation thereof.
  • the crane consists of three mutually transverse segments, a first segment being arranged perpendicularly on a moving platform and provided with a telescopic mechanism. Attached to the distal end of this first segment, there is a second segment, also provided with a telescopic mechanism, in whose distal end a third segment is found. Said third segment is provided with grasping means that let it secure and lift a load, but said grasping means might be replaced, for instance, with an interdependent platform of said third segment for other functionalities.
  • the crane In order to ensure that the third segment is always vertically oriented, even though the moving platform is tilted -typically due to the slope of the ground or the thoroughfare where it is located-, the crane has two mutually perpendicular articulated joints, the first articulated joint having its axis of rotation approximately horizontal and perpendicular to a vertical plane, or working plane, containing the first and second segments, and said second articulated joint having its axis of rotation approximately horizontal and perpendicular to the axis of the first articulated joint, or vice versa.
  • This arrangement allows correcting the tilt of the distal end of the crane along two axes perpendicular to each other, and approximately horizontal, which allows counteracting the effect of the tilt of said third lifting segment derived from whichever tilt of the moving platform, and restoring the vertical orientation of said third segment at all times.
  • the first articulated joint allows changing the angle formed by at least one portion of the first segment relative to at least one portion of the second segment
  • the second articulated joint allows changing the angle of at least one portion of the second segment relative to at least one portion of the third segment. This way, the tilt, both in the longitudinal direction of the moving platform and transverse thereto, can be corrected.
  • Said first and second articulated joints might be located in positions different from those described without thereby altering the operation of the invention, the same way that the segment telescoping means might be sliding, use a scissors mechanism or be any other type of mechanism without thereby altering the scope of the present invention, as will be obvious for a skilled artisan.
  • Said third segment has a tilt sensor, which makes it possible to know the deviation of said third segment relative to the vertical, which will have to be corrected for through the corresponding actuation of the articulated joints described in the present invention.
  • the method for deviation correction consists of a first measurement step, by means of said tilt sensor, of the spatial orientation of said third crane segment and, in particular, of its deviation relative to the vertical orientation.
  • the collected information is transmitted to an electronic control device, where, during the second step of the method, the adjustments necessary for reducing or eliminating any deviation relative to the vertical orientation of said third segment are computed.
  • the first and second actuator means responsible for altering the angles of the first and/or second articulated joints, are actuated so that, through their actuation, the adjustment calculated by the electronic control device is effected.
  • a first and/or second detecting means associated with said first and/or second actuator means, analyse the shift caused in the crane segments by said actuator means and transmit information to the electronic control device, thereby allowing the latter to control the correct execution of the calculated adjustment or correction manoeuvre, the vibrations and oscillations produced by the shifts of the segments being unable to alter the results of the readings.
  • the tilt sensor proceeds to carry out a new measurement of the deviation of said third segment of the crane and said information is transmitted again to the electronic control device. If the results indicate the deviation has disappeared or it is smaller than pre-established values, the deviation correction operation is considered complete, but if the results do not satisfy these parameters, the entire operation is iteratively repeated from the start until the results are satisfactory.
  • Fig. 1 shows a side view of the crane of telescopic segments at an initial position, with its telescopic segments extended and perpendicular to each other.
  • said crane is formed by a first vertical telescopic segment 10 attached, through a rotating base 14, to a moving platform 40; as a non-limiting example, a refuse collection vehicle.
  • a second telescopic segment 20 is transversely attached, by one of its ends, to the distal end of the first segment.
  • a third segment 30, which may optionally also be telescopic, is transversely attached to the distal or terminating end of the second segment 20.
  • the distal end of said third segment 30 is provided with grasping members 31 that allow securing and hooking a load to the end of said crane for its hoisting.
  • the attachment between said first segment 10 and said second segment 20 has a first articulated joint 11 that allows changing the angle between said two segments 10, 20, the axis of said articulated joint being approximately horizontal and perpendicular to the plane formed by the first segment 10 and the second segment 20.
  • a first fluid-dynamic actuating means 12 allows altering and setting a turning angle of the segment 20 around said first articulated joint 11, causing its rise or descent.
  • the attachment between said second segment 20 and said third segment 30 is provided with a second articulated joint 21 that allows altering and setting the angle between said two segments, said second articulated joint 21 being approximately horizontal and perpendicular to the first articulated joint 11.
  • a second fluid-dynamic actuating means 22 for altering and setting the range of the turning angle around said second articulated joint 12 of the third segment 30.
  • This arrangement lets the crane extend and retract thanks to its telescopic segments, turn thanks to the rotating base 14 and adjust the existent angle between its segments 10, 20 and/or 20, 30 in two vertical planes perpendicular to each other so as to attain the verticality of the third segment 30 through a number of corrections of the crane tilt relative to a couple of vertical planes perpendicular to each other and respectively containing said first and second segments 10, 20 and said third segment 30, even though the moving platform 40 and the first segment 10 attached thereto are not in the vertical position, due to the fact that, for instance, the moving platform 40 is outrigged on sloping terrain.
  • the crane is provided with a tilt sensor 60 located in the third segment 30, such as, for instance, a two-axis sensor 2D that permits measuring the deviation of the longitudinal axis of said third segment 30 relative to two perpendicular vertical planes.
  • the crane is also provided with a first position-detecting means 13 and a second position-detecting means 23 that monitor the position of said first actuating means 12 and second actuating means 22, said position-detecting means possibly being transducers.
  • said method allows analysing the deviation of the third segment 30 relative to the vertical by means of the tilt sensor 60, and transmitting said information to the electronic control device 50.
  • the electronic control device 50 analyses the received information and, if it is determined that the deviation is higher than a deviation pre-established as admissible, the necessary adjustments are computed in the turning angle around the first articulated joint 11 and/or the second articulated joint 21 in order to correct it.
  • the electronic control device 50 activates the first actuating means 12 and/or the second actuating means 22 to execute the calculated correction.
  • the first and second position-detecting means 13 and 23 analyse the position of the first and second actuating means 12 and 22 and report it to the electronic control device 50 to ensure the correct execution of the angular adjustment.
  • the tilt sensor 60 measures again the deviation of the third segment 30 relative to the vertical and sends the data to the electronic control device 50, which determines if it now satisfies the pre-established parameters of maximum deviation. In case it does not satisfy them, it restarts the method iteratively until acceptable results are obtained; in case it satisfies them, it considers the method as finished.
  • articulated joints should allow changing the turn angle around each by up to 10°, but they might have greater or lesser freedom, the essence of the invention not being affected by it.
  • the deviations caused by a larger or smaller tilt of the platform may be corrected for.
  • a turn of the second stage 20 relative to the first one 10 around the articulated joint 11 by +/- 5° would entail counteracting the effects derived from a 9% longitudinal slope of the terrain.
  • a turn of the third stage 30 relative to the second one 20 around the articulated joint 21 by +/- 5° in a plane perpendicular to the one containing said first and second stages 10, 20 would entail being able to counteract a sideways slope of the terrain of up to 9%.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
EP13380028.4A 2013-07-03 2013-07-03 Kran aus teleskopischen Segmenten und Steuerungsverfahren dafür Active EP2821360B1 (de)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP13380028.4A EP2821360B1 (de) 2013-07-03 2013-07-03 Kran aus teleskopischen Segmenten und Steuerungsverfahren dafür
PL13380028T PL2821360T3 (pl) 2013-07-03 2013-07-03 Dźwig złożony z segmentów teleskopowych i sposób sterowania takim dźwigiem
ES13380028.4T ES2568617T3 (es) 2013-07-03 2013-07-03 Grúa de segmentos telescópicos y procedimiento de control de la misma
PCT/IB2014/000953 WO2015001401A1 (en) 2013-07-03 2014-06-04 A crane of telescopic segments and control method thereof
CN201480038175.XA CN105358469B (zh) 2013-07-03 2014-06-04 一种带有伸缩节的起重机及其控制方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP13380028.4A EP2821360B1 (de) 2013-07-03 2013-07-03 Kran aus teleskopischen Segmenten und Steuerungsverfahren dafür

Publications (2)

Publication Number Publication Date
EP2821360A1 true EP2821360A1 (de) 2015-01-07
EP2821360B1 EP2821360B1 (de) 2016-01-20

Family

ID=49083625

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13380028.4A Active EP2821360B1 (de) 2013-07-03 2013-07-03 Kran aus teleskopischen Segmenten und Steuerungsverfahren dafür

Country Status (5)

Country Link
EP (1) EP2821360B1 (de)
CN (1) CN105358469B (de)
ES (1) ES2568617T3 (de)
PL (1) PL2821360T3 (de)
WO (1) WO2015001401A1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3037938A1 (fr) * 2015-06-26 2016-12-30 Centre Metal Dispositif manipulateur comprenant un dispositif de reglage d'horizontalite
CN108756781A (zh) * 2018-05-23 2018-11-06 徐工集团工程机械有限公司 一种车载钻机起重臂控制装置
JP2020139801A (ja) * 2019-02-27 2020-09-03 日立Ｇｅニュークリア・エナジー株式会社 燃料取替機
WO2022018308A1 (es) * 2020-07-24 2022-01-27 Izquierdo Hernandez Yoel Orlando Dispositivo para control de verticalidad

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH709471A2 (de) 2014-04-04 2015-10-15 Villiger Public Systems Gmbh Hebevorrichtung auf einem Lastkraftfahrzeug.
US10882863B2 (en) * 2016-05-13 2021-01-05 The Trustees Of Columbia University In The City Of New York Compounds for reducing c-Myc in c-Myc overexpressing cancers background
CN107941191B (zh) * 2017-11-13 2019-10-15 长沙海川自动化设备有限公司 塔机及其垂直度在线监测方法、装置和存储介质
CN110576109A (zh) * 2019-08-05 2019-12-17 姜仕存 一种智能控制的模具用电动搬运车装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0398993A (ja) * 1989-09-13 1991-04-24 Motoda Electron Co Ltd 貨物トラック用荷役装置の姿勢調整機構
DE4404797A1 (de) * 1994-02-09 1995-08-10 Horst Dipl Ing Prischmann Verfahren zur Steuerung von Hubgeräten
DE20306900U1 (de) * 2003-04-11 2003-07-24 Georg Entsorgungssysteme Gmbh Fahrzeug zum Sammeln und Transportieren von Abfällen mit seitlich angeordneter Ladearmanordnung
KR100987531B1 (ko) * 2010-04-29 2010-10-13 주식회사 동해기계항공 고소작업차의 버켓 회전 제어장치 및 버켓 장치
WO2012091227A1 (en) * 2010-12-27 2012-07-05 G.I.D. Co., Ltd. Stand-alone platform combinable with a boom
KR101182717B1 (ko) * 2012-03-06 2012-09-13 주식회사 동해기계항공 버켓의 기울기 자동조절기능을 갖는 고소작업 차량과, 이 차량에서의 버켓 자동 격납방법
FR2973360A1 (fr) * 2011-04-04 2012-10-05 Mobilev Grue pour la pose d'une vitre

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US2933210A (en) * 1958-12-04 1960-04-19 Harland R Dye Container handling and dumping apparatus
ITTO980341A1 (it) 1998-04-22 1999-10-22 Nord Engineering Di Armando Lo Sistema e/o dispositivo per la movimentazione, e lo scarico del conten uto,di contenitori adibiti alla raccolta dei rifiuti.
JP2010089919A (ja) * 2008-01-09 2010-04-22 Kobelco Cranes Co Ltd 伸縮ブーム
CH703720A2 (de) 2010-09-07 2012-03-15 Villiger Public Systems Gmbh Hebevorrichtung auf einem Lastkraftfahrzeug.
CN102120548B (zh) * 2011-04-01 2015-06-17 山西东华机械有限公司 液压伸缩吊臂
CN102225732B (zh) * 2011-06-13 2012-12-19 徐州昊意工程机械科技有限公司 多功能抢险救援消防起重机

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0398993A (ja) * 1989-09-13 1991-04-24 Motoda Electron Co Ltd 貨物トラック用荷役装置の姿勢調整機構
DE4404797A1 (de) * 1994-02-09 1995-08-10 Horst Dipl Ing Prischmann Verfahren zur Steuerung von Hubgeräten
DE20306900U1 (de) * 2003-04-11 2003-07-24 Georg Entsorgungssysteme Gmbh Fahrzeug zum Sammeln und Transportieren von Abfällen mit seitlich angeordneter Ladearmanordnung
KR100987531B1 (ko) * 2010-04-29 2010-10-13 주식회사 동해기계항공 고소작업차의 버켓 회전 제어장치 및 버켓 장치
WO2012091227A1 (en) * 2010-12-27 2012-07-05 G.I.D. Co., Ltd. Stand-alone platform combinable with a boom
FR2973360A1 (fr) * 2011-04-04 2012-10-05 Mobilev Grue pour la pose d'une vitre
KR101182717B1 (ko) * 2012-03-06 2012-09-13 주식회사 동해기계항공 버켓의 기울기 자동조절기능을 갖는 고소작업 차량과, 이 차량에서의 버켓 자동 격납방법

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3037938A1 (fr) * 2015-06-26 2016-12-30 Centre Metal Dispositif manipulateur comprenant un dispositif de reglage d'horizontalite
CN108756781A (zh) * 2018-05-23 2018-11-06 徐工集团工程机械有限公司 一种车载钻机起重臂控制装置
CN108756781B (zh) * 2018-05-23 2023-07-04 江苏徐工工程机械研究院有限公司 一种车载钻机起重臂控制装置
JP2020139801A (ja) * 2019-02-27 2020-09-03 日立Ｇｅニュークリア・エナジー株式会社 燃料取替機
JP7159081B2 (ja) 2019-02-27 2022-10-24 日立Ｇｅニュークリア・エナジー株式会社 燃料取替機
WO2022018308A1 (es) * 2020-07-24 2022-01-27 Izquierdo Hernandez Yoel Orlando Dispositivo para control de verticalidad

Also Published As

Publication number Publication date
EP2821360B1 (de) 2016-01-20
PL2821360T3 (pl) 2016-08-31
ES2568617T3 (es) 2016-05-03
WO2015001401A1 (en) 2015-01-08
CN105358469A (zh) 2016-02-24
CN105358469B (zh) 2017-07-18

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