EP2821360B1 - Grue à segments télescopiques et son procédé de commande - Google Patents

Grue à segments télescopiques et son procédé de commande Download PDF

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Publication number
EP2821360B1
EP2821360B1 EP13380028.4A EP13380028A EP2821360B1 EP 2821360 B1 EP2821360 B1 EP 2821360B1 EP 13380028 A EP13380028 A EP 13380028A EP 2821360 B1 EP2821360 B1 EP 2821360B1
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EP
European Patent Office
Prior art keywords
segment
crane
articulated joint
rotation
segments
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
EP13380028.4A
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German (de)
English (en)
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EP2821360A1 (fr
Inventor
Albert Padullés Omedes
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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/fr
Priority to PL13380028T priority patent/PL2821360T3/pl
Priority to ES13380028.4T priority patent/ES2568617T3/es
Priority to CN201480038175.XA priority patent/CN105358469B/zh
Priority to PCT/IB2014/000953 priority patent/WO2015001401A1/fr
Publication of EP2821360A1 publication Critical patent/EP2821360A1/fr
Application granted granted Critical
Publication of EP2821360B1 publication Critical patent/EP2821360B1/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
    • B66C13/46—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.
  • Document JPH0398993 describes a crane mounted on a vehicle, being provided said crane with a first vertical segment and a second horizontal segment, being said second segment able to rotate relative to said first segment about a vertical axis.
  • a third segment is joined to the distal end of the second segment through a horizontal axis articulation, allowing to change the angle between said second and third segments, moving them in a vertical geometric plane containing both segments.
  • the document FR2973360 describes an elevator car, fitted with a crane with suction cups for handling large glasses.
  • Said crane can be raised by a first vertical segment, but can not rotate or extend his range of action horizontally, therefore lacks from a rotational basis or telescopic horizontal segments. These functions must be compensated with the maneuverability of the car.
  • the end of the crane where the suction cups that act as gripper are located, has three joints with three mutually perpendicular axes, each with a wide angle range. This configuration gives great freedom of movement to said grippmeans, allowing the collection of glass from almost any position, and their placement in virtually any position.
  • the short distance of the second horizontal segment which is not telescopic, means that torsional stresses due to the eccentricity of the load will be small and bearable.
  • the gripping means with suction cups means that the center of gravity of the load is always centered about the distal end of the crane, and may even be above, and this could be the Nicolred placement position. For all that reasons do not make sense to equip this crane, a system that would keep the load in a vertical, because that does not bring any improvement to this invention. It is apparent that there is the need of providing a crane of telescopic segments like the ones mentioned above with means that allow solving the referred disadvantages.
  • the present invention helps to solve the above and other disadvantages through a crane of telescopic segments mounted on a moving platform according to claim 1 and a method for controlling the actuation thereof according to claim 7.
  • 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.
  • 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.
  • 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)

Claims (7)

  1. Grue à segments télescopiques du genre comportant:
    - un premier segment (10) agencé perpendiculaire à une plate-forme mobile (40) et relié à celle-ci au moyen d'une base tournante (14), lui permettant de tourner;
    - un deuxième segment transversal (20) relié à une extrémité distale de ce premier segment (10); et
    - un troisième segment (30) pourvu d'organes de préhension (31) relié à l'extrémité distale du deuxième segment transversal (20) de celui-ci,
    - l'accessoire de fixation entre ce premier segment (10) et le deuxième segment (20) ayant une première liaison articulée (11) et étant pourvu d'un premier moyen d'entraînement (12) lequel par rotation autour de l'axe de cette première liaison articulée (11) permet de changer l'angle entre ce premier segment (10) et le deuxième segment (20) par rapport au plan vertical formé par ces premier et deuxième segments (10 et 20).
    caractérisée en ce qu'elle comporte:
    - le premier segment (10) est un segment télescopique et le deuxième segment (20) est un segment télescopique;
    - une deuxième liaison articulée (21) permettant la rotation, au moyen d'un deuxième moyen d'entraînement (22) autour de l'axe de la deuxième liaison articulée (21), d'au moins une fraction distale du troisième segment (30) sur un plan perpendiculaire à un plan contenant ces premier et deuxième segments (10 et 20), ayant un axe de rotation perpendiculaire à l'axe de rotation de la première liaison articulée (11); et
    - un capteur d'inclinaison (60) agencé sur le troisième segment (30) de la grue, ce capteur d'inclinaison (60) étant destiné à transmettre les informations sur la déviation de l'orientation spatiale de ce troisième segment (30) par rapport à la verticale à un appareil de contrôle électronique (50);
    - cet appareil de contrôle électronique (50) est configuré pour commander ces premier et deuxième moyens d'entraînement (12 et 22) pour déplacer la grue jusqu'à la déviation correcte.
  2. Une grue conformément à la revendication 1 caractérisée en ce que cet axe des première et deuxième liaisons articulées (11 et 21) est approximativement horizontal.
  3. Une grue conformément à la revendication 1 caractérisée en ce que cette deuxième liaison articulée (21) est agencée entre le deuxième segment (20) et le troisième segment (30).
  4. Une grue conformément aux revendications 1 ou 3 caractérisée en ce qu'elle possède des premier moyen détecteur de position (13) et deuxième moyen détecteur de position (23) reliés respectivement au premier moyen d'entraînement (12) et au deuxième moyen d'entraînement (22), utilisés pour analyser la position de ces premier et deuxième moyens d'entraînement (12 et 22) et transmettre ces informations à cet appareil de contrôle électronique (50).
  5. Une grue conformément à une quelconque des revendications précédentes caractérisée en ce que cette rotation autour des première et deuxième liaisons articulées (11 et 21) est limitée à un angle de rotation maximum de 20° et de préférence limitée à 10°.
  6. Une grue conformément à une quelconque des revendications précédentes caractérisée en ce que ce troisième segment (30) possède un mécanisme télescopique.
  7. Une méthode de contrôle pour une grue à segments télescopiques située sur une plateforme mobile pour contrôler une grue conformément à une quelconque des revendications précédentes caractérisée en ce qu'elle comprend les étapes suivantes:
    - analyser au moyen du capteur d'inclinaison (60), la déviation de l'axe longitudinal du troisième segment (30) par rapport à la verticale et transmettre les informations qui y sont associées à l'appareil de contrôle électronique (50);
    - déterminer, au moyen de l'appareil de contrôle électronique (50) en se basant sur la valeur de ces informations de déviation, la correction angulaire nécessaire pour la rotation du deuxième segment (20) autour de la première liaison articulée (11) et/ou par rotation du troisième segment autour de la deuxième liaison articulée (21) afin de réduire ou éliminer cette déviation;
    - entraîner, depuis l'appareil de contrôle électronique (50), les premier et/ou deuxième moyens d'entraînement (12 et 22), en provocant une rotation prédéterminée de ces deuxième (20) et/ou troisième segments (30) de la grue, en contrôlant leur entraînement juste au moyen des premier et deuxième moyens de détection de position (13 et 23), également connectés à l'appareil de contrôle électronique (50).
    - mesurer à nouveau avec ce capteur d'inclinaison (60) et
    - si cette mesure donne pour résultat que la déviation de l'axe longitudinal du troisième segment (30) par rapport à la verticale est supérieure à une valeur établie au préalable comme étant acceptable, recommencer l'opération plusieurs fois et, dans le cas où elle serait inférieure, juger que la correction de l'inclinaison de l'axe longitudinal de ce troisième segment (30) est terminée.
EP13380028.4A 2013-07-03 2013-07-03 Grue à segments télescopiques et son procédé de commande Active EP2821360B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP13380028.4A EP2821360B1 (fr) 2013-07-03 2013-07-03 Grue à segments télescopiques et son procédé de commande
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
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
PCT/IB2014/000953 WO2015001401A1 (fr) 2013-07-03 2014-06-04 Grue avec segments télescopiques et procédé de commande correspondant

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP13380028.4A EP2821360B1 (fr) 2013-07-03 2013-07-03 Grue à segments télescopiques et son procédé de commande

Publications (2)

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

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EP13380028.4A Active EP2821360B1 (fr) 2013-07-03 2013-07-03 Grue à segments télescopiques et son procédé de commande

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EP (1) EP2821360B1 (fr)
CN (1) CN105358469B (fr)
ES (1) ES2568617T3 (fr)
PL (1) PL2821360T3 (fr)
WO (1) WO2015001401A1 (fr)

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FR3037938B1 (fr) * 2015-06-26 2019-06-28 Centre Metal Dispositif manipulateur comprenant un dispositif de reglage d'horizontalite
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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
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
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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
ES1255310Y (es) * 2020-07-24 2021-01-19 Hernandez Yoel Orlando Izquierdo Dispositivo para control de verticalidad

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KR100987531B1 (ko) * 2010-04-29 2010-10-13 주식회사 동해기계항공 고소작업차의 버켓 회전 제어장치 및 버켓 장치
CH703720A2 (de) 2010-09-07 2012-03-15 Villiger Public Systems Gmbh Hebevorrichtung auf einem Lastkraftfahrzeug.
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Also Published As

Publication number Publication date
WO2015001401A1 (fr) 2015-01-08
ES2568617T3 (es) 2016-05-03
PL2821360T3 (pl) 2016-08-31
CN105358469A (zh) 2016-02-24
CN105358469B (zh) 2017-07-18
EP2821360A1 (fr) 2015-01-07

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