EP3431436B1 - Procédé de commande d'une machine de manutention et machine de manutention correspondante - Google Patents

Procédé de commande d'une machine de manutention et machine de manutention correspondante Download PDF

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Publication number
EP3431436B1
EP3431436B1 EP17181715.8A EP17181715A EP3431436B1 EP 3431436 B1 EP3431436 B1 EP 3431436B1 EP 17181715 A EP17181715 A EP 17181715A EP 3431436 B1 EP3431436 B1 EP 3431436B1
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EP
European Patent Office
Prior art keywords
movement
speed
handling arm
main body
operating mode
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
EP17181715.8A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3431436A1 (fr
Inventor
Sylvain CADOU
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Manitou BF SA
Original Assignee
Manitou BF SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Application filed by Manitou BF SA filed Critical Manitou BF SA
Priority to EP17181715.8A priority Critical patent/EP3431436B1/fr
Priority to US16/627,133 priority patent/US11390508B2/en
Priority to RU2019142065A priority patent/RU2756412C2/ru
Priority to BR112019027093-0A priority patent/BR112019027093B1/pt
Priority to CN201880047154.2A priority patent/CN110958987B/zh
Priority to AU2018304430A priority patent/AU2018304430B2/en
Priority to CA3069769A priority patent/CA3069769A1/fr
Priority to PCT/EP2018/068554 priority patent/WO2019016014A1/fr
Publication of EP3431436A1 publication Critical patent/EP3431436A1/fr
Publication of EP3431436B1 publication Critical patent/EP3431436B1/fr
Application granted granted Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • 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
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • 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
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload

Definitions

  • the document EP-A-2263965 describes a handling machine in which the speed of movement on the ground of the machine is measured to invalidate certain commands of the machine.
  • the handling machine or the control method may include one or more of the following characteristics.
  • the control unit functions as an all-or-nothing filter which executes or lets execute movement requests which satisfy an authorization criterion, but which prevents or cancels the execution of movement requests which do not satisfy not the authorization criterion. In doing so, the control unit does not need to modify the movement requests sent by the operator, which leaves the operator effective control of these requests, in particular in terms of speed.
  • the threshold representative of a maximum speed can be determined in different ways, in particular with a view to excluding movements involving too much movement, namely a quantity of movement that the machine is unable to absorb or dissipate without risk of creating instability.
  • the handling arm can have one or more degrees of freedom relative to the main body.
  • the different actuating devices are not necessarily all controlled in the same way.
  • the control methods described here are preferably applied to the degree (s) of movement having a greater influence on the stability of the machine.
  • control unit is configured to receive the motion request signal produced by the control member.
  • control unit can take into account an attribute of the motion request signal, for example its amplitude, frequency, duration or any other predefined attribute, as a quantity representative of the speed of the movement to be executed.
  • the comparison carried out by the control unit is a comparison between the attribute of the motion request signal and said threshold.
  • the handling machine or the signaling process can include one or more of the following characteristics.
  • a selector member 70 in the passenger compartment of the telescopic carriage is intended to be actuated by the operator to select at his choice the reinforced operating mode and the simple operating mode. So as shown on the figure 7 , from state 72, the operator can exert a first action 74 on the selector member 70 to pass into state 73. Conversely, from state 73, the operator can exert a second action 75 on the selector member 70 to enter state 72.
  • the first action 74 and the second action 75 may be identical actions, successive in time, for example in the case where the selector member 70 is a push button alternately switching in the state 72 and in state 73 on each successive pressure it receives.
  • control unit 10 automatically stops or prevents a movement, because the stop condition is satisfied, certain degrees of movement can remain executable by the operator while others are prohibited.
  • the lifting movement L + and the retraction movement T-remain executable since they contribute to reducing the tilting moment,

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Transportation (AREA)
  • Civil Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Operation Control Of Excavators (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
EP17181715.8A 2017-07-17 2017-07-17 Procédé de commande d'une machine de manutention et machine de manutention correspondante Active EP3431436B1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
EP17181715.8A EP3431436B1 (fr) 2017-07-17 2017-07-17 Procédé de commande d'une machine de manutention et machine de manutention correspondante
CN201880047154.2A CN110958987B (zh) 2017-07-17 2018-07-09 装卸机的控制
RU2019142065A RU2756412C2 (ru) 2017-07-17 2018-07-09 Управление погрузочно-разгрузочной машиной
BR112019027093-0A BR112019027093B1 (pt) 2017-07-17 2018-07-09 Método de controle para controlar um dispositivo de atuação em uma máquina de manuseio, e máquina de manuseio
US16/627,133 US11390508B2 (en) 2017-07-17 2018-07-09 Control of a handling machine
AU2018304430A AU2018304430B2 (en) 2017-07-17 2018-07-09 Control of a handling machine
CA3069769A CA3069769A1 (fr) 2017-07-17 2018-07-09 Commande d'une machine de manutention
PCT/EP2018/068554 WO2019016014A1 (fr) 2017-07-17 2018-07-09 Commande d'une machine de manutention

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17181715.8A EP3431436B1 (fr) 2017-07-17 2017-07-17 Procédé de commande d'une machine de manutention et machine de manutention correspondante

Publications (2)

Publication Number Publication Date
EP3431436A1 EP3431436A1 (fr) 2019-01-23
EP3431436B1 true EP3431436B1 (fr) 2020-04-15

Family

ID=59363038

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17181715.8A Active EP3431436B1 (fr) 2017-07-17 2017-07-17 Procédé de commande d'une machine de manutention et machine de manutention correspondante

Country Status (7)

Country Link
US (1) US11390508B2 (zh)
EP (1) EP3431436B1 (zh)
CN (1) CN110958987B (zh)
AU (1) AU2018304430B2 (zh)
CA (1) CA3069769A1 (zh)
RU (1) RU2756412C2 (zh)
WO (1) WO2019016014A1 (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201800010234A1 (it) * 2018-11-12 2020-05-12 Manitou Italia Srl Telehandler con sistema di controllo.
US20210372090A1 (en) * 2020-06-02 2021-12-02 Manitou Equipment America, Llc Boom Extension and Rotation Monitoring System
MX2021015616A (es) * 2020-12-30 2022-07-01 Manitou Italia Srl Manipulador telescopico con ajuste de alineacion facilitado.
CN117446656B (zh) * 2023-12-18 2024-03-22 河南省大方重型机器有限公司 一种节能降噪的绿色环保单梁起重机

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5119949A (en) 1989-02-13 1992-06-09 Hikoma Seisakusho Co., Ltd. Crane vehicle with operation speed control
JPH05319785A (ja) 1991-09-06 1993-12-03 Yotaro Hatamura 建設機械の姿勢制御システム
EP0731054A1 (en) 1993-11-26 1996-09-11 Komatsu Ltd. Mobile reach tower crane
JP3252006B2 (ja) 1993-03-10 2002-01-28 株式会社タダノ ブーム付き作業車の制御装置
GB2390595A (en) 2002-07-12 2004-01-14 Bamford Excavators Ltd Safety control system for a load handling machine
JP2005273262A (ja) 2004-03-24 2005-10-06 Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd 建設機械の旋回装置
GB2431248A (en) 2004-05-13 2007-04-18 Komatsu Mfg Co Ltd Rotation control device, rotation control method, and construction machine
EP2263965A1 (en) 2009-06-19 2010-12-22 J.C. Bamford Excavators Limited Method of Operating a Working Machine
EP2733110A1 (de) 2012-11-16 2014-05-21 Kramer-Werke GmbH Fahrbare Maschine mit Ladenlage, Maschine betriebsfähig in zwei Notsteuermodi

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Publication number Priority date Publication date Assignee Title
GB1403046A (en) 1972-09-08 1975-08-13 Weimar Kombinat Veb Load factor safety mechanism
AT343860B (de) 1975-02-04 1978-06-26 Krueger & Co Kg Vorrichtung zur steuerung eines kranauslegerantriebes
FR2501390A1 (fr) 1981-03-05 1982-09-10 Camiva Dispositif de commande a microprocesseur pour echelle orientable deployable ou bras elevateur analogue
JPS63114730A (ja) 1986-10-31 1988-05-19 Hitachi Constr Mach Co Ltd 多関節構造機械の制御装置
US5189940A (en) 1991-09-13 1993-03-02 Caterpillar Inc. Method and apparatus for controlling an implement
US5639119A (en) * 1992-12-04 1997-06-17 Trak International, Inc. Forklift stabilizing apparatus
RU65832U1 (ru) * 2007-04-25 2007-08-27 Общество с ограниченной ответственностью "ВЕЛМАШ-Сервис" (ООО "ВЕЛМАШ-С") Машина погрузочно-разгрузочная
GB2483647B (en) 2010-09-14 2014-04-09 Bamford Excavators Ltd A machine, controller, and control method
EP2637961B1 (en) * 2010-11-12 2016-04-20 JLG Industries Inc. Longitudinal stability monitoring system
DE102011108874A1 (de) 2011-07-28 2013-01-31 Hydac System Gmbh Steuervorrichtung
CN102398867B (zh) * 2011-11-02 2013-07-10 中联重科股份有限公司 一种起重机的防倾翻方法及系统
CN104961061B (zh) 2015-06-30 2017-01-04 中国一冶集团有限公司 一种用于履带式起重机的力矩限制器及其控制方法
RU171471U1 (ru) * 2016-07-14 2017-06-01 Николай Алексеевич Гречишкин Универсальный погрузчик-экскаватор

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5119949A (en) 1989-02-13 1992-06-09 Hikoma Seisakusho Co., Ltd. Crane vehicle with operation speed control
JPH05319785A (ja) 1991-09-06 1993-12-03 Yotaro Hatamura 建設機械の姿勢制御システム
JP3252006B2 (ja) 1993-03-10 2002-01-28 株式会社タダノ ブーム付き作業車の制御装置
EP0731054A1 (en) 1993-11-26 1996-09-11 Komatsu Ltd. Mobile reach tower crane
GB2390595A (en) 2002-07-12 2004-01-14 Bamford Excavators Ltd Safety control system for a load handling machine
JP2005273262A (ja) 2004-03-24 2005-10-06 Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd 建設機械の旋回装置
GB2431248A (en) 2004-05-13 2007-04-18 Komatsu Mfg Co Ltd Rotation control device, rotation control method, and construction machine
EP2263965A1 (en) 2009-06-19 2010-12-22 J.C. Bamford Excavators Limited Method of Operating a Working Machine
EP2733110A1 (de) 2012-11-16 2014-05-21 Kramer-Werke GmbH Fahrbare Maschine mit Ladenlage, Maschine betriebsfähig in zwei Notsteuermodi

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Title
"Safety of industrial trucks - Self-propelled variable reach trucks", BRITISH STANDARD - BS EN 1459:1998 +A3:2012, 2012, pages 1 - 80
ANONYMOUS: "MLT Manual", MAITOU. OPERATOR'S MANUAL, 4 July 2012 (2012-07-04), XP055976401, [retrieved on 20221031]
ANONYMOUS: "MT1740 Manual", MANITOU. OPERATO'S MANUAL, 16 July 1999 (1999-07-16), XP055976397, [retrieved on 20221031]
SÖDERSTÖRM TORSTEN, STOICA PETRE: "System Identification. Excerpt", 1 January 1989 (1989-01-01), pages 1 - 32, XP055869608, Retrieved from the Internet <URL:https://tinyurl.com/4mpamw3j> [retrieved on 20211206]

Also Published As

Publication number Publication date
CN110958987B (zh) 2021-04-02
AU2018304430B2 (en) 2023-11-30
CA3069769A1 (fr) 2019-01-24
US20200172384A1 (en) 2020-06-04
AU2018304430A1 (en) 2020-01-16
RU2019142065A (ru) 2021-08-17
RU2019142065A3 (zh) 2021-08-17
CN110958987A (zh) 2020-04-03
US11390508B2 (en) 2022-07-19
BR112019027093A2 (pt) 2020-07-07
RU2756412C2 (ru) 2021-09-30
EP3431436A1 (fr) 2019-01-23
WO2019016014A1 (fr) 2019-01-24

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