EP2927177A9 - Method and arrangement for controlling a crane - Google Patents
Method and arrangement for controlling a crane Download PDFInfo
- Publication number
- EP2927177A9 EP2927177A9 EP15161902.0A EP15161902A EP2927177A9 EP 2927177 A9 EP2927177 A9 EP 2927177A9 EP 15161902 A EP15161902 A EP 15161902A EP 2927177 A9 EP2927177 A9 EP 2927177A9
- Authority
- EP
- European Patent Office
- Prior art keywords
- crane
- hoist
- drive motor
- speed
- main boom
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000001105 regulatory effect Effects 0.000 claims abstract description 25
- 230000001276 controlling effect Effects 0.000 claims abstract description 16
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000005259 measurement Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 2
- 238000010924 continuous production Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000003467 diminishing effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
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
- B66C13/04—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
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
-
- 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
- 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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
Definitions
- the present invention relates to a method according to the preamble of claim 1.
- the aim of the method is to minimize the swinging of a load transported by a crane.
- the invention also relates to an arrangement according to the preamble of claim 7, with which this minimization of the load's swinging can be achieved.
- a bridge crane is a type of crane with a load-bearing structure comprising a main boom that preferably rests on fixed parallel support beams, along which the main boom can be moved. These beams are usually positioned at each end of the main boom, but there are bridge cranes with beams positioned on top of each other, in which case the main boom extends between the beams.
- a crane has a trolley that can be moved along its main boom.
- An example of such a trolley is a telpher that can be moved on rails or directly on bottom flanges of a bridge crane's main boom.
- the trolley comprises, among other things, a drive motor to drive it along the main boom, and a power-driven hoist block equipped with ropes, wires or chains.
- the effectivity of work is determined on how quickly a load can be moved with a crane. Owing to the inertia of the object being moved with the crane, the load will generally swing in a greater or less degree. If the load is not too heavy, the swinging can be reduced by hand, but often it is necessary to manage the movements of the trolley and main boom to maintain a safe and stable transport of the load. This management requires great skill and experience of the crane operator, characteristics that are not always available in a stressful work situation.
- a solution according to publication US 5 219 420 endeavours to regulate the swinging of the load at any random time instant during the transport of the load.
- This solution too, describes an arrangement that is based on using several measurements to determine continuously the transport times of the load and its movement in relation to the crane, for instance. Like in the earlier solution, the measurements are difficult to make sufficiently quickly and reliably to be able to regulate the swinging of the load even during short transport intervals.
- the object of the invention is thus to provide an easy to use method and arrangement for controlling a crane with high reliability.
- This object is achieved in accordance with the invention by giving the method for controlling a crane according to the invention the characterising features of claim 1, while the arrangement for controlling a crane has the characterising features of claim 7.
- the subsequent dependent claims present appropriate further developments and variations of the invention which further improve its operation.
- the invention is based on the idea of being able to provide an as simple solution as possible in construction and use. This solution should be applicable to both new cranes and cranes that have been used for a short or long period of time.
- a hoist rope is the tool, with which the hoist block of the trolley regulates the altitude of the load. It can be a wire, chain or some other suitable auxiliary device that is usually used for this purpose.
- the transporting of a load in a crane can be controlled in a simple manner that sufficiently prevents the troublesome or even dangerous swinging of the load.
- the arrangement can without much difficulty and at a reasonable cost be installed in both new cranes and those already in use.
- the use of the crane also does not require any new control commands, and the crane can continue to be used in the known manner.
- a crane 1 is illustrated in the present description and figures as a bridge crane, the structure of which is shown in Figures 1 and 4 , in particular.
- the solutions described in the following can also be applied to cranes and hoist arrangements of other type, in which it is necessary to limit the swinging that occurs in a load when it is moved by the crane.
- the crane 1 has a main boom 2 that is preferably arranged to be movable in relation to its environment.
- the bridge crane according to the attached Figures is thus arranged on support members 3, such as beams, which according to Figure 1 are arranged along parallel walls of an industrial facility, for example.
- Support members of this type can also be arranged one on top of the other in a manner known per se.
- the support members can comprise a turnplate to make the main boom of a tower crane turnable in relation to its vertical tower.
- the support members can further comprise a wheel-mounted portal, for example, that can be driven along horizontal rails or freely along an essentially level base.
- the crane 1 also has at least one trolley 4 arranged to the main boom 2 to be moved along the main boom with at least one drive motor 5 that preferably comprises an inverter-steered stepless electric motor.
- This trolley in turn, has a machine-driven hoist block 6 with which the hoist rope 7 and the hoist hook 8 arranged thereto are manoeuvred in a substantially vertical direction. If the main boom is movable in relation to its environment, it also has drive members 9 for moving the main boom along its support member 3.
- the speed of the hoist block can thus comprise only the movement of the trolley along the main boom, the movement of the main boom along the support members or a combination of the movement of the main boom along the support members and the movement of the trolley along the main boom, of which the latter alternative is shown in Figure 1 and illustrated by arrows B-F and L-R in the Figure.
- the measuring elements are of a generally known type and not part of the present solution, which is why they are not shown in more detail in the Figures.
- the trolley 6 of the crane 1 also comprises an angle gauge 10 that is arranged to determine the position of the hoist rope 7 in relation its vertical rest position that is shown by vertical line 11, see Figure 4 .
- the angle gauge preferably measures the angle ⁇ of the hoist rope and vertical line in a more or less continuous process.
- This measuring data is delivered to a regulating unit 12 that can process the data and determine from it the angular speed ⁇ of the hoist rope in relation to its vertical rest position and the travel direction of the hoist rope.
- the angle gauge preferably operates in a three-dimensional measuring space, and the angle gauge can also comprise one or more measuring devices to read deviations in different geometrical directions.
- the regulating unit 12 works together with at least one control unit 13 that is arranged to manoeuvre the drive members 9 or drive motor 5 according to the information it receives from the regulating unit. This way, the same control unit can be arranged to manoeuvre either the drive member or drive motor or both the drive member and drive motor.
- the regulating unit 12 of the crane 1 with the angle gauge 10 coupled thereto make it possible to minimize in a simple and reliable manner the swinging that most often takes place in a load 14 when it is to be transported in a direction that differs from the vertical.
- the method that is utilized in this control operates in the following manner. Also see Figure 5 .
- the angle gauge 10 in the trolley 4 first determines the position of the hoist rope 7 that runs from the trolley and that through the hoist hook 8 arranged thereto can handle loads 14 of different type.
- the measuring data 18 of the angle gauge concerning the actual position of the hoist rope in relation to its vertical rest position, see vertical line 11, is transmitted to the regulating unit 12 that further determines the angle speed ⁇ of the hoist rope and its travel direction in relation to its vertical rest position.
- a first control signal 19 is given to at least one control unit 13 that forwards the control signal on to regulate only the movement of the trolley 4 along the main boom 2, the movement of the main boom 2 along the support member 3, or a combination of the movement of the main boom along the support member and that of the trolley along the main boom.
- the control signal results in a substantially stepless acceleration cycle in the drive members or drive motor, when the hoist block reaches a speed that corresponds to half of the maximum speed, which is illustrated by phase I in Figure 2 .
- control unit 13 manoeuvres either the drive members 9 or drive motor 5, or both of them.
- the type of manoeuvring of a hoist block 6 described above thus takes place when a load 14 is stationary when movement is about to begin. Often the load already swings when the transport command 15 reaches the regulating unit 12. Alternatively, the load may be stationary but moved in a way that the hoist rope 7 is at an angle in relation to its vertical position. So as to prevent problems that may arise in such situations, the manoeuvring method may be modified to some extent. This modification can be seen in Figure 6 and works in the following way.
- the angle gauge 10 When a crane user 16 gives the transport command 15, the angle gauge 10 first determines the position of the hoist rope 7 in relation to the vertical line 11. If the hoist rope already is at an angle ⁇ to its vertical position, the control unit 13 is allowed to transmit the first transport control signal to the drive members 9 or drive motor 5 only after the load 14 (hoist rope) has a travel direction that substantially coincides with a travel direction given in the transport command.
- this first control signal results in a substantially stepless acceleration cycle that controls the movement of the trolley 4 along the main boom 2, the movement of the main boom along the support members 3, or a combination of the movement of main boom along the support members and the movement of the trolley along the main boom, when the hoist block 6 reaches a speed that corresponds to half the maximum speed (phase I).
- the regulating unit 12 continues to observe the travel direction and angle position of the hoist rope for the purpose of measuring the time T required for the load, after the first control signal has been transmitted, to adopt a travel direction that is opposite to the travel direction given in the transport command 15.
- the regulating unit 12 When the hoist block 6 reaches half the maximum speed, measuring values are again registered for the travel direction ⁇ and angle position ⁇ of the hoist rope 7.
- the regulating unit 12 now commands that acceleration be stopped and achieved speed be maintained (phase II). After this, a continuous observation of the travel direction and angle position of the hoist rope continues in such a manner that when the hoist rope adopts an opposite travel direction in relation to the travel direction at the time the transport command 15 was given, the regulating unit waits for a position of the hoist rope that corresponds to the angle at the time when half the maximum speed was reached minus the time (T) multiplied by the angular speed of the hoist rope.
- a second control signal can now be transmitted to the drive members 9 or drive motor 5, which results in a second substantially stepless acceleration cycle to a speed that corresponds to the maximum speed of the hoist block 6 (phase III).
- the regulating unit again gives the command to stop acceleration and maintain the reached speed until a new transport command is received (phase IV).
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
- The present invention relates to a method according to the preamble of
claim 1. The aim of the method is to minimize the swinging of a load transported by a crane. - The invention also relates to an arrangement according to the preamble of
claim 7, with which this minimization of the load's swinging can be achieved. - It is known to use cranes of different sizes and power in industrial and workshop facilities to move particularly heavy objects between production or work locations. A bridge crane is a type of crane with a load-bearing structure comprising a main boom that preferably rests on fixed parallel support beams, along which the main boom can be moved. These beams are usually positioned at each end of the main boom, but there are bridge cranes with beams positioned on top of each other, in which case the main boom extends between the beams. A crane has a trolley that can be moved along its main boom. An example of such a trolley is a telpher that can be moved on rails or directly on bottom flanges of a bridge crane's main boom. The trolley comprises, among other things, a drive motor to drive it along the main boom, and a power-driven hoist block equipped with ropes, wires or chains.
- Often the effectivity of work is determined on how quickly a load can be moved with a crane. Owing to the inertia of the object being moved with the crane, the load will generally swing in a greater or less degree. If the load is not too heavy, the swinging can be reduced by hand, but often it is necessary to manage the movements of the trolley and main boom to maintain a safe and stable transport of the load. This management requires great skill and experience of the crane operator, characteristics that are not always available in a stressful work situation.
- So as to facilitate the use of cranes, various more or less automatic control systems have been developed during the years for the purpose of diminishing the swinging that occurs in objects or loads, when they are transported parallel to the ground in industrial or workshop facilities. However, many of these solutions have proven to be ineffective as well as costly to use and maintain. Very few of these known solutions can be utilised to upgrade older cranes by simple and quick means.
- Examples of such control systems can be found in
patent publication GB 1 183 126 - A solution according to publication
US 5 219 420 endeavours to regulate the swinging of the load at any random time instant during the transport of the load. This solution, too, describes an arrangement that is based on using several measurements to determine continuously the transport times of the load and its movement in relation to the crane, for instance. Like in the earlier solution, the measurements are difficult to make sufficiently quickly and reliably to be able to regulate the swinging of the load even during short transport intervals. - Finally, we refer to a solution according to
WO 103/041770 - With the present invention, the problems of known solutions can be essentially avoided. The object of the invention is thus to provide an easy to use method and arrangement for controlling a crane with high reliability. This object is achieved in accordance with the invention by giving the method for controlling a crane according to the invention the characterising features of
claim 1, while the arrangement for controlling a crane has the characterising features ofclaim 7. The subsequent dependent claims present appropriate further developments and variations of the invention which further improve its operation. - The invention is based on the idea of being able to provide an as simple solution as possible in construction and use. This solution should be applicable to both new cranes and cranes that have been used for a short or long period of time.
- In the following, the present invention will be described by illustrating a crane with what is known as a bridge crane. However, this is not intended to limit the invention to this application only, but the method and arrangement for controlling a crane can also be used in cranes of other type, such as building cranes - or tower cranes - container cranes, portal cranes, and gantry cranes of different type.
- In the present invention, "a hoist rope" is the tool, with which the hoist block of the trolley regulates the altitude of the load. It can be a wire, chain or some other suitable auxiliary device that is usually used for this purpose.
- In the following description, the terms "up", "down", "above", "below" and the like refer to directions in relation to an arrangement for controlling a crane or its structural details as shown in the attached figures.
- With the arrangement and method described in the present invention, a plurality of significant advantages are achieved over the prior art. Thus, the transporting of a load in a crane can be controlled in a simple manner that sufficiently prevents the troublesome or even dangerous swinging of the load. The arrangement can without much difficulty and at a reasonable cost be installed in both new cranes and those already in use. The use of the crane also does not require any new control commands, and the crane can continue to be used in the known manner.
- Further advantages and details of the invention become apparent from the description below.
- In the following, the invention will be described in greater detail with reference to the drawing, in which
-
Figure 1 shows a crane that is movable along guides and equipped with a transverse trolley having a hoist hook, -
Figure 2 is a graphical representation of the movements of the trolley and the load it handles, -
Figure 3 illustrates the control of the crane, -
Figure 4 shows the effect of control on the trolley of the crane, -
Figure 5 is a flow chart of a control routine of the crane, and -
Figure 6 is a flow chart of an alternative control routine of the crane. - The above figures do not show the arrangement for controlling a crane or its use in scale but only serve to illustrate structural solutions of the preferred embodiment and the operation of the embodiment. Herein, the respective structural parts shown in the figures and denoted with reference numerals correspond to the structural solutions presented in the description below and which are hereby given their reference numbers.
- A
crane 1 is illustrated in the present description and figures as a bridge crane, the structure of which is shown inFigures 1 and4 , in particular. The solutions described in the following can also be applied to cranes and hoist arrangements of other type, in which it is necessary to limit the swinging that occurs in a load when it is moved by the crane. - Herein, the
crane 1 has amain boom 2 that is preferably arranged to be movable in relation to its environment. The bridge crane according to the attached Figures is thus arranged onsupport members 3, such as beams, which according toFigure 1 are arranged along parallel walls of an industrial facility, for example. Support members of this type can also be arranged one on top of the other in a manner known per se. In other known solutions, the support members can comprise a turnplate to make the main boom of a tower crane turnable in relation to its vertical tower. The support members can further comprise a wheel-mounted portal, for example, that can be driven along horizontal rails or freely along an essentially level base. - The
crane 1 also has at least onetrolley 4 arranged to themain boom 2 to be moved along the main boom with at least onedrive motor 5 that preferably comprises an inverter-steered stepless electric motor. This trolley, in turn, has a machine-drivenhoist block 6 with which the hoist rope 7 and thehoist hook 8 arranged thereto are manoeuvred in a substantially vertical direction. If the main boom is movable in relation to its environment, it also has drivemembers 9 for moving the main boom along itssupport member 3. - So as to steer both the movement of the
trolley 4 along themain boom 2 and the movement of the main boom along itssupport members 3, it is necessary to have a number of measuring elements, such as a speed meter for measuring the speed of the hoistblock 6 in relation to its environment. The speed of the hoist block can thus comprise only the movement of the trolley along the main boom, the movement of the main boom along the support members or a combination of the movement of the main boom along the support members and the movement of the trolley along the main boom, of which the latter alternative is shown inFigure 1 and illustrated by arrows B-F and L-R in the Figure. The measuring elements are of a generally known type and not part of the present solution, which is why they are not shown in more detail in the Figures. - In addition to said speed meters, the
trolley 6 of thecrane 1 also comprises anangle gauge 10 that is arranged to determine the position of the hoistrope 7 in relation its vertical rest position that is shown byvertical line 11, seeFigure 4 . The angle gauge preferably measures the angle α of the hoist rope and vertical line in a more or less continuous process. This measuring data is delivered to a regulatingunit 12 that can process the data and determine from it the angular speed ω of the hoist rope in relation to its vertical rest position and the travel direction of the hoist rope. The angle gauge preferably operates in a three-dimensional measuring space, and the angle gauge can also comprise one or more measuring devices to read deviations in different geometrical directions. - The regulating
unit 12 works together with at least onecontrol unit 13 that is arranged to manoeuvre thedrive members 9 or drivemotor 5 according to the information it receives from the regulating unit. This way, the same control unit can be arranged to manoeuvre either the drive member or drive motor or both the drive member and drive motor. - The regulating
unit 12 of thecrane 1 with theangle gauge 10 coupled thereto make it possible to minimize in a simple and reliable manner the swinging that most often takes place in aload 14 when it is to be transported in a direction that differs from the vertical. The method that is utilized in this control operates in the following manner. Also seeFigure 5 . - When a
crane user 16 gives atransport command 15 through acontrol box 17, this means that theangle gauge 10 in thetrolley 4 first determines the position of the hoistrope 7 that runs from the trolley and that through the hoisthook 8 arranged thereto can handleloads 14 of different type. The measuringdata 18 of the angle gauge concerning the actual position of the hoist rope in relation to its vertical rest position, seevertical line 11, is transmitted to the regulatingunit 12 that further determines the angle speed ω of the hoist rope and its travel direction in relation to its vertical rest position. If the regulating unit determines that the hoist rope adopts a substantially vertical rest position, afirst control signal 19 is given to at least onecontrol unit 13 that forwards the control signal on to regulate only the movement of thetrolley 4 along themain boom 2, the movement of themain boom 2 along thesupport member 3, or a combination of the movement of the main boom along the support member and that of the trolley along the main boom. The control signal results in a substantially stepless acceleration cycle in the drive members or drive motor, when the hoist block reaches a speed that corresponds to half of the maximum speed, which is illustrated by phase I inFigure 2 . - At the same time, observations on the direction of movement and angle position of the hoist
rope 7 continue and are continuously forwarded to the regulatingunit 12. When the hoistblock 6 has reached half of the maximum speed, the measuring values for this time instant are registered. The regulating unit now commands that acceleration be stopped and achieved speed be maintained, which in turn is illustrated by phase II inFigure 2 . After this, the continuous observation of the travel direction and angle position of the hoist rope continues. When the hoist rope again takes the same angle position but shows an opposite travel direction in comparison with the registered measuring values above, thedrive unit 13 is allowed to transmit a second control signal to the drive members or drive motor. The control signal results in a second substantially stepless acceleration cycle to a speed that corresponds to the maximum speed, which is illustrated by phase III inFigure 2 . When this maximum speed has been reached, the regulating unit gives the command to stop acceleration and maintain the reached speed until a new transport command is received, see phase IV inFigure 2 . - Depending on the nature of the movement and
transport command 15, thecontrol unit 13 manoeuvres either thedrive members 9 or drivemotor 5, or both of them. - The type of manoeuvring of a hoist
block 6 described above thus takes place when aload 14 is stationary when movement is about to begin. Often the load already swings when thetransport command 15 reaches the regulatingunit 12. Alternatively, the load may be stationary but moved in a way that the hoistrope 7 is at an angle in relation to its vertical position. So as to prevent problems that may arise in such situations, the manoeuvring method may be modified to some extent. This modification can be seen inFigure 6 and works in the following way. - When a
crane user 16 gives thetransport command 15, theangle gauge 10 first determines the position of the hoistrope 7 in relation to thevertical line 11. If the hoist rope already is at an angle α to its vertical position, thecontrol unit 13 is allowed to transmit the first transport control signal to thedrive members 9 or drivemotor 5 only after the load 14 (hoist rope) has a travel direction that substantially coincides with a travel direction given in the transport command. - Like before, this first control signal results in a substantially stepless acceleration cycle that controls the movement of the
trolley 4 along themain boom 2, the movement of the main boom along thesupport members 3, or a combination of the movement of main boom along the support members and the movement of the trolley along the main boom, when the hoistblock 6 reaches a speed that corresponds to half the maximum speed (phase I). At the same time, the regulatingunit 12 continues to observe the travel direction and angle position of the hoist rope for the purpose of measuring the time T required for the load, after the first control signal has been transmitted, to adopt a travel direction that is opposite to the travel direction given in thetransport command 15. - When the hoist
block 6 reaches half the maximum speed, measuring values are again registered for the travel direction ω and angle position α of the hoistrope 7. The regulatingunit 12 now commands that acceleration be stopped and achieved speed be maintained (phase II). After this, a continuous observation of the travel direction and angle position of the hoist rope continues in such a manner that when the hoist rope adopts an opposite travel direction in relation to the travel direction at the time thetransport command 15 was given, the regulating unit waits for a position of the hoist rope that corresponds to the angle at the time when half the maximum speed was reached minus the time (T) multiplied by the angular speed of the hoist rope. - A second control signal can now be transmitted to the
drive members 9 or drivemotor 5, which results in a second substantially stepless acceleration cycle to a speed that corresponds to the maximum speed of the hoist block 6 (phase III). When this maximum speed has been reached, the regulating unit again gives the command to stop acceleration and maintain the reached speed until a new transport command is received (phase IV). - The above description and the related figures are only intended to illustrate the present solution for the construction of an arrangement for controlling a crane or its use. Thus, the solution is not confined merely to the embodiments described above or in the attached claims but a plurality of variations or alternative embodiments is feasible within the idea described in the attached claims.
Claims (8)
- A method for controlling a crane (1) that comprises
a main boom (2),
at least one trolley (4) arranged to the main boom and comprising a drive motor (5) that drives the trolley along the main boom, wherein
the trolley has a machine-driven hoist block (6) for manoeuvring a hoist rope (7) and a hoist hook (8) arranged thereto in a vertical direction, and
at least one speed meter measures the speed of the hoist block in relation to its environment,
an angle gauge (10) that determines the position of the hoist rope (7) in relation to its vertical rest position (11) in such a manner that
the measuring data of the angle gauge is transmitted to the regulating unit (12) that determines the angle speed (ω) of the hoist rope and its travel direction in relation to its vertical rest position,
at least one control unit (13) manoeuvres the drive motor (5) in accordance with information received from a regulating unit, whereby
when a given transport command (15) is received, the regulating unit (12) determines the travel direction of the hoist rope (7) so that, if the hoist rope is in a position that differs from its vertical position at the vertical line (11), the control unit (13) is allowed transmit a first control signal to the drive motor (5) only when the load (14) has a travel direction that substantially coincides with a travel direction given in the transport command,
the first control signal resulting in a substantially stepless acceleration cycle that moves the hoist block (6) to a speed that corresponds to half its maximum speed,
characterised in that
the regulating unit (12) measures the time (T) required for the load (14), after the first control signal has been transmitted, to adopt a travel direction that is opposite to the travel direction given in the transport command (15) in such a manner that
when the hoist rope (7) again adopts an opposite travel direction in relation to the travel direction at the time the transport command (15) was given, the regulating unit waits for a position of the hoist rope (7) that corresponds to the angle at the time when half the maximum speed was reached minus the time (T) multiplied by the angular speed (ω) of the hoist rope, after which
a second control signal is transmitted to the drive motor (5), which results in a second substantially stepless acceleration cycle to a speed that corresponds to the maximum speed of the hoist block (6). - A method for controlling a crane (1) according to claim 1, characterised in that the main boom (2) is arranged to be movable in relation to support members (3) by drive members (9), wherein
the control unit (13) manoeuvres the drive members (9) or drive motor (5) in accordance with information it receives from the regulating unit (12). - A method for controlling a crane (1) according to claim 2, characterised in that the control unit (13) manoeuvres either the drive members (9) or drive motor (5).
- A method for controlling a crane (1) according to claim 2, characterised in that the control unit (13) manoeuvres both the drive members (9) and drive motor (5).
- An arrangement for controlling a crane (1) that comprises
a main boom (2),
at least one trolley (4) arranged to the main boom (2) and comprising a drive motor (5) that drives the trolley along the main boom, wherein
the trolley has a machine-driven hoist block (6) for manoeuvring a hoist rope (7) and a hoist hook (8) arranged thereto in a vertical direction,
at least one speed meter for measuring the speed of the hoist block, an angle gauge (10) arranged to determine the angle position (α) of the hoist rope (7) in relation to its vertical rest position at the vertical line (11),
a regulating unit (12) arranged to process the data of the angle gauge and to determine the angle speed (ω) of the hoist rope and its travel direction in relation to its vertical rest position,
at least one control unit (13) arranged to manoeuvre the drive motor (5) in accordance with information received from the regulating unit.
characterised in that
the drive motor (5) permits a substantially stepless acceleration cycle, and
the regulating unit (12) is arranged to measure the time (T) required for the load (14), after the first control signal has been transmitted, to adopt a travel direction that is opposite to the travel direction given in the transport command (15). - An arrangement for controlling a crane (1) according to claim 5, characterised in that the crane (1) further comprises support members (3) arranged to receive the main boom (2), and drive members (9) arranged to move the main boom in relation to the support members, wherein the control unit (13) is arranged to manoeuvre the drive members (9) or drive motor (5) in accordance with information it has received from the regulating unit (12).
- An arrangement for controlling a crane (1) according to claim 6, characterised in that the control unit (13) is arranged to manoeuvre either the drive members (9) or drive motor (5).
- An arrangement for controlling a crane (1) according to claim 6, characterised in that the control unit (13) is arranged to manoeuvre both the drive members (9) and drive motor (5).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FI20145320A FI125656B (en) | 2014-04-02 | 2014-04-02 | Method for controlling a crane |
Publications (3)
Publication Number | Publication Date |
---|---|
EP2927177A1 EP2927177A1 (en) | 2015-10-07 |
EP2927177A9 true EP2927177A9 (en) | 2015-12-30 |
EP2927177B1 EP2927177B1 (en) | 2017-11-15 |
Family
ID=53016455
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15161902.0A Active EP2927177B1 (en) | 2014-04-02 | 2015-03-31 | Method and arrangement for controlling a crane |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP2927177B1 (en) |
FI (1) | FI125656B (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107381350B (en) * | 2017-07-05 | 2019-04-16 | 苏州汇川技术有限公司 | A kind of sway-prevention control method for crane and frequency converter based on frequency converter |
CN107857196B (en) * | 2017-11-13 | 2019-03-01 | 浙江大学 | A kind of bridge-type container crane swing optimal control system |
CN108657956A (en) * | 2018-03-29 | 2018-10-16 | 马鞍山钢铁股份有限公司 | The synchronisation control means of the special double-hung driving of H profile steel reconditioning |
CN110467109B (en) * | 2019-07-29 | 2020-08-25 | 武汉理工大学 | Crane time optimal anti-swing control method and system |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1172413B (en) * | 1959-10-03 | 1964-06-18 | Demag Ag | Equipment on hoists for the automatic electrical control of the movement of the load carrier to calm the load hanging on it |
FI44036B (en) | 1966-08-25 | 1971-04-30 | Kone Oy | |
US4997095A (en) * | 1989-04-20 | 1991-03-05 | The United States Of America As Represented By The United States Department Of Energy | Methods of and system for swing damping movement of suspended objects |
FI91058C (en) | 1991-03-18 | 1996-01-10 | Kci Kone Cranes Int Oy | Procedure for controlling a crane |
FI20115922A0 (en) | 2011-09-20 | 2011-09-20 | Konecranes Oyj | Crane control |
-
2014
- 2014-04-02 FI FI20145320A patent/FI125656B/en active IP Right Grant
-
2015
- 2015-03-31 EP EP15161902.0A patent/EP2927177B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
FI20145320A (en) | 2015-10-03 |
EP2927177A1 (en) | 2015-10-07 |
FI125656B (en) | 2015-12-31 |
EP2927177B1 (en) | 2017-11-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20150203334A1 (en) | Crane Trolley and Hoist Position Homing and Velocity Synchronization | |
EP2927177B1 (en) | Method and arrangement for controlling a crane | |
US11987475B2 (en) | System and method for transporting a swaying hoisted load | |
CN101723239B (en) | Hanging hook attitude detection device and crane | |
FI126857B (en) | Crane Control | |
EP3074337B1 (en) | A device and a process for controlling a swinging of a load suspended from a lifting apparatus | |
EP3034450B1 (en) | Device for hoisting and controlling loads | |
RU2499762C2 (en) | Method of tower crane rotary part control | |
CN104495628A (en) | Automatic lifting truck loading system and control method thereof | |
CN102910534B (en) | Linear hoisting device of goose-neck jib lorry-mounted crane and control method of linear hoisting device | |
DE102018005068A1 (en) | Crane and method for controlling such a crane | |
CN102001587B (en) | Automatic control method and control device for ship rotary crane jib laying | |
CN104140037B (en) | Wallboard Lift-on/Lift-off System | |
CN102295236B (en) | Double gantry crane lifting device | |
CN106829741B (en) | Driving tele-control system and control method | |
CN108358081A (en) | The working method of the intelligent tower crane system of automation lifting can be achieved | |
CN206751218U (en) | A kind of intelligent tower crane system | |
US10207903B2 (en) | Apparatus and method for controlling the orientation of a suspended load | |
EP4028349B1 (en) | A combination comprising a crane and a load guiding arrangement arranged for mounting to the crane and use of a load guiding arrangement in such a combination | |
CN100396856C (en) | Dragline dump position control | |
CN115676635B (en) | Double-small-axle crane with hook capable of being connected | |
CN103274298B (en) | Method, device and system for controlling driving force of tower crane trolley | |
CN202245826U (en) | Lifting device with double gantry cranes | |
CN103334466A (en) | Full-automatic sludge conveying system | |
KR20100097863A (en) | Tower crane capable of positioning structural elements |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
17P | Request for examination filed |
Effective date: 20160406 |
|
RBV | Designated contracting states (corrected) |
Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
INTG | Intention to grant announced |
Effective date: 20170623 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP Ref country code: GB Ref legal event code: FG4D Ref country code: AT Ref legal event code: REF Ref document number: 946043 Country of ref document: AT Kind code of ref document: T Effective date: 20171115 |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R096 Ref document number: 602015005934 Country of ref document: DE |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 4 |
|
REG | Reference to a national code |
Ref country code: NL Ref legal event code: MP Effective date: 20171115 |
|
REG | Reference to a national code |
Ref country code: LT Ref legal event code: MG4D |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: MK05 Ref document number: 946043 Country of ref document: AT Kind code of ref document: T Effective date: 20171115 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: NL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: LT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: SE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: NO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20180215 Ref country code: ES Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BG Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20180215 Ref country code: RS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: LV Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: HR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20180216 Ref country code: AT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CZ Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: EE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: DK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: SK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R097 Ref document number: 602015005934 Country of ref document: DE |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: RO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: IT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: SM Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: PL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
26N | No opposition filed |
Effective date: 20180817 |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MC Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: SI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 |
|
REG | Reference to a national code |
Ref country code: BE Ref legal event code: MM Effective date: 20180331 |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: MM4A |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LU Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20180331 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20180331 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20180331 Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20180331 Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20180331 |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20190331 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20190331 Ref country code: MT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20180331 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: TR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: HU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO Effective date: 20150331 Ref country code: MK Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20171115 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: AL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20171115 Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20180315 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20240307 Year of fee payment: 10 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FR Payment date: 20240325 Year of fee payment: 10 |