EP3169618B2 - Commande du degré de remplissage d'une benne preneuse d'un produit en vrac d'une grue - Google Patents
Commande du degré de remplissage d'une benne preneuse d'un produit en vrac d'une grue Download PDFInfo
- Publication number
- EP3169618B2 EP3169618B2 EP15739573.2A EP15739573A EP3169618B2 EP 3169618 B2 EP3169618 B2 EP 3169618B2 EP 15739573 A EP15739573 A EP 15739573A EP 3169618 B2 EP3169618 B2 EP 3169618B2
- Authority
- EP
- European Patent Office
- Prior art keywords
- gripper
- tensile force
- load
- controller
- crane
- 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
Links
- 239000013590 bulk material Substances 0.000 title claims description 63
- 238000000034 method Methods 0.000 claims description 39
- 230000000694 effects Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 9
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 description 16
- 230000007246 mechanism Effects 0.000 description 7
- 230000007423 decrease Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 230000009467 reduction Effects 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 239000003245 coal Substances 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000012804 iterative process Methods 0.000 description 1
- -1 ore Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/12—Grabs actuated by two or more ropes
- B66C3/125—Devices for control
-
- 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
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
- B66C13/32—Control systems or devices for electric drives for operating grab bucket hoists by means of one or more electric motors used both for hosting and lowering the loads and for opening and closing the bucket jaws
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/12—Grabs actuated by two or more ropes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
- Shovels (AREA)
Claims (10)
- Procédé de remplissage d'un dispositif de préhension (2), destiné à un matériau en vrac (14), qui est suspendu à des câbles de retenue (12), qui est soulevé et abaissé par une grue (1) par le biais d'un dispositif de commande (17) et qui agit par son propre poids sur le matériau en vrac (14) pendant la fermeture et le remplissage, le degré de remplissage du dispositif de préhension (2) étant influencé par le dispositif de commande (17) par réduction de l'effet du propre poids du dispositif de préhension (2) sur le matériau en vrac (14) en raison de l'influence exercée sur une force de traction agissant dans les câbles de retenue (12), caractérisé en ce qu'une valeur de consigne de force de traction (Fconsigne) est déterminée par le dispositif de commande (17) destiné aux câbles de retenue (12), en ce que la valeur de consigne de force de traction (Fconsigne) est délivrée en tant que grandeur d'entrée à un régulateur de force de traction (18), en ce qu'un moteur électrique (19) est commandé par le régulateur de force de traction (18) pour soulever et abaisser le dispositif de préhension (2) et en ce que la valeur réelle de force de traction déterminée (Fréelle) des câbles de retenue (12) est délivrée en tant que grandeur d'entrée au régulateur de force de traction (18), dans lequel l'instant d'une variation de la valeur de consigne de force de traction (Fconsigne) et un pas de progression d'une variation de la valeur de consigne de force de traction (Fconsigne) sont fournis au dispositif de commande (17) par le biais d'un module de sens (22d) sur la base de l'allure des charges maximales déterminées.
- Procédé selon la revendication 1, caractérisé en ce que la valeur de consigne de force de traction (Fconsigne) est augmentée par le module de sens (22d) lorsque la fréquence des arrêts de surcharge devient supérieure à une valeur présélectionnée liée aux cycles de charge et/ou lorsque la fréquence des dépassements de la charge maximale admissible devient supérieure à une valeur présélectionnée liée la charge maximale admissible pour une portée donnée (a).
- Procédé selon la revendication 1 ou 2, caractérisé en ce que la valeur de consigne de la force de traction (Fconsigne) est réduite par le module de sens (22d) lorsque la fréquence des arrêts de surcharge devient inférieure à une valeur présélectionnée liée aux cycles de charge et/ou lorsque la fréquence des dépassements de la charge maximale admissible devient inférieure à une valeur présélectionnée liée la charge maximale admissible pour une portée donnée (a).
- Procédé selon l'une des revendications 1 à 3, caractérisé en ce que la valeur réelle de force de traction (Fréelle), orientée dans le sens de levage (h), est appliquée sur le dispositif de préhension (2) au cours de la fermeture ou du remplissage sur la grue (1) au moyen du dispositif de commande (17).
- Procédé selon l'une des revendications 1 à 4, caractérisé en ce que le degré de remplissage du dispositif de préhension (2) est déterminé dans le dispositif de commande (17) à partir d'une charge maximale (TL), déterminée après le soulèvement de la charge du dispositif de préhension rempli, et du propre poids connu du dispositif de préhension (2).
- Procédé selon la revendication 5, caractérisé en ce que la longueur (l) d'un câble libre (12, 13), à partir du dispositif de préhension (2) et dans le sens de levage (h), est amenée en tant que grandeur d'entrée au dispositif de commande (17) par le biais d'un module de longueur de câble (22a), et en ce que le propre poids du câble libre (12, 13) est également ajouté au propre poids du dispositif de préhension (2) dans le dispositif de commande (17) lors du calcul du degré de remplissage du dispositif de préhension (2).
- Procédé selon l'une des revendications 1 à 6, caractérisé en ce qu'une charge maximale admissible est amenée au dispositif de commande (17), en fonction de la portée du dispositif de préhension (2), en tant que grandeur d'entrée pour la grue (1) par le biais d'un module de courbe de charge maximale (22b).
- Procédé selon les revendications 5 à 7, caractérisé en ce que la valeur de consigne de force de traction (Fconsigne) est abaissée ou augmentée de manière itérative dans le dispositif de commande (17) sur la base des grandeurs d'entrée provenant du module de courbe de charge (22b), du module de longueur de câble (22a) et la charge maximale détectée (TL) jusqu'à ce que le degré de remplissage du dispositif de préhension (2) soit de l'ordre de 100%.
- Procédé selon l'une des revendications 1 à 8, caractérisé en ce qu'une valeur de consigne de force de traction (Fconsigne), utilisée comme valeur de départ, est entrée en tant que grandeur d'entrée dans le dispositif de commande (17) par le biais d'un module de valeur de départ (22c).
- Utilisation d'un procédé selon l'une des revendications 1 à 9, pour une grue (1) comportant un dispositif de préhension (2) qui est soulevé, abaissé, ouvert et fermé par des câbles de retenue (12) et des câbles de fermeture (13).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014110060.3A DE102014110060A1 (de) | 2014-07-17 | 2014-07-17 | Füllgradsteuerung für einen Schüttgut-Greifer eines Krans |
PCT/EP2015/066400 WO2016009040A1 (fr) | 2014-07-17 | 2015-07-17 | Commande du degré de remplissage d'une benne preneuse d'un produit en vrac d'une grue |
Publications (3)
Publication Number | Publication Date |
---|---|
EP3169618A1 EP3169618A1 (fr) | 2017-05-24 |
EP3169618B1 EP3169618B1 (fr) | 2018-06-06 |
EP3169618B2 true EP3169618B2 (fr) | 2024-06-05 |
Family
ID=53716477
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15739573.2A Active EP3169618B2 (fr) | 2014-07-17 | 2015-07-17 | Commande du degré de remplissage d'une benne preneuse d'un produit en vrac d'une grue |
Country Status (8)
Country | Link |
---|---|
US (1) | US10611606B2 (fr) |
EP (1) | EP3169618B2 (fr) |
CN (1) | CN106604885B (fr) |
BR (1) | BR112016029086B1 (fr) |
DE (1) | DE102014110060A1 (fr) |
ES (1) | ES2679624T3 (fr) |
RU (1) | RU2662375C1 (fr) |
WO (1) | WO2016009040A1 (fr) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017004270A1 (de) * | 2017-05-03 | 2018-11-08 | Liebherr-Werk Nenzing Gmbh | Schlitzwandgreifer mit hybridem Antrieb |
CN110844774A (zh) * | 2019-10-29 | 2020-02-28 | 神华粤电珠海港煤炭码头有限责任公司 | 一种矿机抓斗 |
DE102022202679A1 (de) | 2021-11-26 | 2023-06-01 | Sms Group Gmbh | System und Verfahren zum Betreiben des Systems |
Family Cites Families (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE244962C (fr) | ||||
US1864793A (en) * | 1929-05-23 | 1932-06-28 | Owen Bucket Company | Clamshell bucket |
US3776513A (en) * | 1971-05-10 | 1973-12-04 | F Mosley | Crane |
SU730632A1 (ru) * | 1977-11-09 | 1980-04-30 | Днепропетровский Ордена Трудового Красного Знамени Горный Институт Им.Артема | Способ управлени процессом загрузки грейфера и устройство дл его осуществлени |
JPS5939016B2 (ja) | 1981-03-10 | 1984-09-20 | 川崎製鉄株式会社 | グラブバケツトの掴み量制御方法および装置 |
DD244962A1 (de) * | 1985-12-23 | 1987-04-22 | Foerderanlagen 7 Oktober Veb | Verfahren und vorrichtung zur gutaufnahmesteuerung fuer einen am hubwerk haengenden motorgreifer |
SU1602848A2 (ru) * | 1987-10-09 | 1990-10-30 | Ленинградский Государственный Институт Проектирования На Речном Транспорте | Устройство дл управлени лебедками грейферного крана |
JPH01247393A (ja) | 1987-11-20 | 1989-10-03 | Hitachi Kiden Kogyo Ltd | ロープ式バケット付クレーンのバケット掴み方法及びその装置 |
JPH01278621A (ja) | 1988-04-28 | 1989-11-09 | Sumitomo Constr Mach Co Ltd | 掘削機の掘削力制御装置 |
DD288138A5 (de) | 1989-09-29 | 1991-03-21 | Veb Kranbau Eberswalde,De | Einrichtung zur verhinderung einer greiferueberlastung |
DE59008943D1 (de) * | 1990-05-29 | 1995-05-24 | Siemens Ag | Zugregelung für die Greiferseile eines Schüttgut-Um-schlaggeräts. |
DE4034006A1 (de) | 1990-10-25 | 1992-04-30 | Siemens Ag | Verfahren zum betreiben eines krans mit greifer |
KR100431578B1 (ko) * | 1995-11-14 | 2004-10-02 | 시메 오이 | 화물이송방법 |
DE19955750B4 (de) | 1999-11-11 | 2004-05-27 | Demag Mobile Cranes Gmbh | Verfahren zum Druckausgleich in Hydraulikmotoren zum Antrieb der Hub- und Schließseile eines Seilkranes |
DE20211542U1 (de) | 2002-07-10 | 2003-01-16 | Demag Cranes & Components Gmbh | Hängesteuereinrichtung |
EP1773706B1 (fr) * | 2004-08-02 | 2011-01-19 | Terex Demag GmbH | Mecanisme de commande de cable de levage comprenant un bloc a tenon inferieur unique et deux treuils |
CN101134552A (zh) * | 2006-08-31 | 2008-03-05 | 天津中远船务工程有限公司 | 单索双瓣液压遥控抓斗 |
DE102008045330B4 (de) | 2008-08-20 | 2013-03-21 | Physik-Instrumente Dr.Bernd Brosa Gmbh | Frühzeitige Überlasterkennung für eine Lasthubvorrichtung |
US20100044332A1 (en) | 2008-08-22 | 2010-02-25 | Cameron John F | Monitoring crane component overstress |
JP2010070338A (ja) * | 2008-09-19 | 2010-04-02 | Mitsubishi Heavy Ind Ltd | ケーブルリールの制御装置、ケーブルリールの制御方法、及び、タイヤ式クレーン |
DE102009011604A1 (de) | 2009-03-04 | 2010-09-16 | Kirow Ardelt Ag | Verfahren und Anordnung zur Beeinflussung des Greiferfüllvolumens bei Hebezeugen mit Zweimotorengreiferhubwerken |
DE102009041662A1 (de) | 2009-09-16 | 2011-03-24 | Liebherr-Werk Nenzing Gmbh, Nenzing | System zum Erfassen der Lastmasse einer an einem Hubseil eines Kranes hängenden Last |
DE102009041661A1 (de) | 2009-09-16 | 2011-03-24 | Liebherr-Werk Nenzing Gmbh, Nenzing | System zur automatischen Erfassung von Lastzyklen einer Maschine zum Umschlagen von Lasten |
US8589036B2 (en) | 2010-06-17 | 2013-11-19 | Key Energy Services, Llc | Method and system for automatically setting, adjusting, and monitoring load-based limits on a well service rig |
CN102602796A (zh) * | 2011-12-20 | 2012-07-25 | 无锡市新华起重工具有限公司 | 用于镍矿起重机的抓斗 |
US20130173215A1 (en) | 2012-01-04 | 2013-07-04 | Honeywell International Inc. | Adaptive trend-change detection and function fitting system and method |
CN202729587U (zh) * | 2012-05-05 | 2013-02-13 | 无锡市新华起重工具有限公司 | 大跨度变容抓斗 |
CN202988574U (zh) * | 2013-01-05 | 2013-06-12 | 江苏紫石机械制造有限公司 | 一种抓取粘性物料的双瓣抓斗 |
-
2014
- 2014-07-17 DE DE102014110060.3A patent/DE102014110060A1/de not_active Withdrawn
-
2015
- 2015-07-17 EP EP15739573.2A patent/EP3169618B2/fr active Active
- 2015-07-17 RU RU2016149766A patent/RU2662375C1/ru active
- 2015-07-17 ES ES15739573.2T patent/ES2679624T3/es active Active
- 2015-07-17 WO PCT/EP2015/066400 patent/WO2016009040A1/fr active Application Filing
- 2015-07-17 BR BR112016029086-0A patent/BR112016029086B1/pt active IP Right Grant
- 2015-07-17 CN CN201580037800.3A patent/CN106604885B/zh active Active
- 2015-07-17 US US15/325,919 patent/US10611606B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
DE102014110060A1 (de) | 2016-01-21 |
BR112016029086B1 (pt) | 2021-11-16 |
RU2662375C1 (ru) | 2018-07-25 |
EP3169618B1 (fr) | 2018-06-06 |
BR112016029086A2 (pt) | 2017-08-22 |
US10611606B2 (en) | 2020-04-07 |
CN106604885A (zh) | 2017-04-26 |
ES2679624T3 (es) | 2018-08-29 |
EP3169618A1 (fr) | 2017-05-24 |
US20170166421A1 (en) | 2017-06-15 |
CN106604885B (zh) | 2019-08-06 |
WO2016009040A1 (fr) | 2016-01-21 |
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