EP3862310A1 - Verfahren zur wartung eines krans - Google Patents

Verfahren zur wartung eines krans Download PDF

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Publication number
EP3862310A1
EP3862310A1 EP21154751.8A EP21154751A EP3862310A1 EP 3862310 A1 EP3862310 A1 EP 3862310A1 EP 21154751 A EP21154751 A EP 21154751A EP 3862310 A1 EP3862310 A1 EP 3862310A1
Authority
EP
European Patent Office
Prior art keywords
maintenance
crane
maneuver
control system
piloting
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.)
Pending
Application number
EP21154751.8A
Other languages
English (en)
French (fr)
Inventor
Denis Mathe
Yves POINAS
Bruno RONI-DAMOND
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.)
Manitowoc Crane Group France SAS
Original Assignee
Manitowoc Crane Group France SAS
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
Application filed by Manitowoc Crane Group France SAS filed Critical Manitowoc Crane Group France SAS
Publication of EP3862310A1 publication Critical patent/EP3862310A1/de
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/26—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 specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
    • 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
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme 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
    • B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
    • 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
    • B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
    • B66C13/54—Operator's stands or cabins
    • 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
    • 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

Definitions

  • the present invention relates to a method for maintaining a crane.
  • It also relates to a crane and a maintenance assembly suitable for implementing such a maintenance method.
  • such maintenance operations can take place with the aim of repairing and overhauling a crane in the event of the appearance of technical problems preventing said crane from functioning, or else with the aim of preventively preventing a deterioration of this crane. same crane leading to degradation of its operation.
  • a maintenance technician for example trained by the manufacturer of said crane, must go to the site of operation of said crane, accompanied by a crane operator: while the pilot crane operator , from a cockpit generally located high on the crane mast, certain crane maneuvers at the request of the maintenance technician, the latter can observe the operation of the crane, identify any technical problems encountered and carry out repairs required.
  • the maintenance technician is thus exposed to the movements of the moving parts of the crane (for example, movements of the boom, etc.): there is thus a risk that the maintenance technician is struck by a moving part of the crane during a maneuver controlled by the crane operator.
  • the document CN201753235 describes a crane configurable, by means of a switch, between a working configuration in which the crane can operate normally, and a maintenance configuration, in which no movement of the crane is allowed: by switching the crane to configuration maintenance before the maintenance technician intervenes on the crane, his safety is ensured.
  • the document CN207566749 describes a device capable of detecting the presence of the maintenance technician in a danger zone, then of automatically blocking or limiting the movements of the crane liable to strike it. This device has the drawback that in the event of an error during the detection of the maintenance technician, the safety of the latter is no longer ensured and the maintenance technician may be struck by the crane.
  • the maintenance technician must transmit to the crane operator positioned in the cockpit piloting instructions for each particular maneuver that he wishes to observe: this transmission of instructions is generally carried out by voice or by the operator. intermediary of appropriate means of communication.
  • the object of the present invention is thus to resolve all or part of the aforementioned drawbacks, by proposing a method for maintaining a crane which makes it possible to provide the maintenance technician with better safety when performing maintenance maneuvers.
  • an objective of the invention is to provide a maintenance method which can be easily implemented on already existing standard crane models.
  • Carrying out such a maintenance method according to the invention thus requires cooperation between two operators present on the crane operating site: a crane operator, controlling the various maneuvers of the crane by means of the control device, and a maintenance technician, allowing the crane to go into maintenance configuration, by means of the maintenance control system, and observing the maneuvers piloted by the crane operator.
  • the piloting device on which a crane operator acts, can be a piloting device located in a pilot's cabin mounted on the crane, or else can be a radio-controlled piloting device external to the crane.
  • the maintenance process makes it possible to establish a hierarchy between the maintenance technician and the crane operator: the maintenance technician chooses which the crane he wishes to see carried out while the crane operator has only an executing role, not being able to pilot any crane maneuver except those selected by the maintenance technician.
  • the maintenance control system is an automated maintenance control system for performing the configuration change step in an automated manner.
  • the maintenance control system is a switch for performing the configuration change step manually, such as for example a physical switch or a virtual switch on a screen interface.
  • the switch is positioned on the crane and outside a pilot's cabin where the piloting device is placed, so as not to be able to be actuated by the crane operator present in the pilot's cabin.
  • the crane comprises a mast provided to extend, when said crane is in operation, in a substantially vertical direction between a foot positioned close to the ground and a high top supporting an arrow, the switch being located on the foot and the cockpit being located on the mast above the switch.
  • the pilot's cabin is thus positioned high on the mast of the crane and the switch is positioned near the ground, for example in an electrical cabinet of said crane, easily accessible by the maintenance technician.
  • the switch is positioned on the crane, and inside a pilot's cabin where the piloting device is placed, and the switch being accessible via a secure access, such as for example a key, a word pass, an identification device; this secure access thus allows only the maintenance technician, and not the crane operator, to access the switch.
  • a secure access such as for example a key, a word pass, an identification device
  • switches for example a key switch, a switch, an RFID reader, a keyboard for entering a password, etc.
  • the maintenance method according to the invention thus comprises a succession of steps allowing the maintenance technician to impose on the crane operator the control of certain specific maneuvers, to the exclusion of all the others.
  • the first step carried out or initiated by the maintenance technician manually or in an automated manner, thus consists in changing the crane from the working configuration, in which the crane operator can control any maneuver of the crane by means of the control device. piloting, to the maintenance configuration, in which the piloting of at least one of these maneuvers is blocked.
  • the crane operator can no longer perform, by means of the piloting device, some of the maneuvers that he could pilot when the crane was still in the working configuration.
  • the maintenance technician knows that the crane operator can only perform a limited number of predefined maneuvers that he can easily anticipate: even in the event of an error in the operation of the crane operator, the maintenance technician cannot be surprised by a maneuver. unexpectedly, thus reducing the risk of collision with a moving part of the crane.
  • the piloting, by means of the piloting device, of each of the maneuvers among the plurality of maneuvers is blocked by the control system. -ordered.
  • the control of crane maneuvers is blocked by the crane control system, after switching to maintenance configuration, for example after manipulation of the switch by the maintenance technician.
  • This instrumentation and control system is present on many models of cranes of the state of the art and may, for example, consist of one or more electronic cards and is suitable for carrying out the movements of the moving parts of the crane used. during maneuvers piloted from the crane control device.
  • This control-command system can also be adapted to control, in particular by means of physical sensors distributed on the crane, these movements of the mobile parts of the crane.
  • the instrumentation and control system is also configured to block the piloting, by means of the control device. piloting, of certain maneuvers of the crane, so that, even when the crane operator manipulates the piloting device with a view to performing these same maneuvers, they are not actually carried out by the crane.
  • the instrumentation and control system thus prevents certain crane maneuvers from being performed, even if the crane operator were to control them by mistake using the device. piloting.
  • the passage of the crane from the working configuration to the maintenance configuration is signaled by the emission of a warning signal, such as for example an audible signal and / or a light signal.
  • the maintenance method then comprises a selection step, during which at least one maintenance maneuver from among the maneuver or maneuvers whose control is initially blocked.
  • this selection step is automated, for example by following a pre-established or recorded maintenance scenario, such a maintenance scenario being able to be configured in advance in the maintenance module.
  • the maintenance module comprises a memory in which one or more maintenance scenarios are recorded.
  • this selection step is performed manually by the maintenance technician who selects, by means of the maintenance module, at least one maintenance maneuver from among the maneuvers of the crane whose control is blocked by the control system. -ordered.
  • the maintenance technician therefore chooses a particular maneuver which he wishes to observe when the crane is carried out, for example in order to identify the cause of a technical problem, or to check the correct operation of the crane following a repair.
  • the maintenance module which will be described more precisely below, is connected to the control-command system of the crane.
  • the maintenance module advantageously comprises an interface allowing the maintenance technician to select the maintenance maneuver.
  • the invention is not limited to the way in which the selection of the maintenance maneuver is carried out, whether automated or pre-established, or manually, or via selection software launched by the maintenance technician. , or any other equivalent means for making such a selection.
  • the maintenance maneuver chosen from among the set of maneuvers that can be carried out by the crane, can also be carried out without prior selection when the crane is in working configuration.
  • the maintenance module transmits to the crane control system during the release step, a control signal forcing the unblocking of the piloting, by means of the piloting device, of this maintenance maneuver.
  • the crane operator can perform it by means of the control device. It is important to note that the piloting of the other maneuvers previously blocked remains blocked: only the piloting of the maintenance maneuver can be performed by the crane operator.
  • the maintenance module can also be used to start and stop the crane.
  • the maintenance method according to the invention allows the maintenance technician to precisely select the particular maneuver or maneuvers that he wishes to see carried out by the crane operator, by preventing the latter from piloting any other unauthorized maneuver.
  • the maintenance maneuver implements at least one maintenance movement of at least one mobile part of said crane, said maintenance movement being characterized, when the crane is in the working configuration, by at least a kinematic parameter presenting a maximum working threshold, said maintenance method comprising a limiting step for limiting the kinematics of said maintenance movement when the maintenance maneuver is controlled during the control step, so that the kinematic parameter of said maintenance movement has a maximum maintenance threshold less than or equal said maximum working threshold, said limiting step first comprising a selection sub-step consisting in selecting said maximum maintenance threshold on the maintenance module.
  • the maintenance technician can, in addition to precisely selecting a maintenance maneuver to be performed, choose to limit the kinematics of this maintenance maneuver in order to be able to study the operation of the crane more precisely.
  • this sub-selection step can also be carried out automatically within the framework of a pre-established maintenance scenario.
  • the maintenance process comprises a limitation step itself comprising a selection sub-step: during this selection sub-step, the maintenance technician can select a maximum maintenance threshold which will constitute an unsurpassable upper limit for the kinematic parameter during piloting the maintenance maneuver during the piloting stage.
  • each maneuver of the crane that can be carried out in the working configuration is characterized by one or more kinematic parameters to each of which is associated a maximum working threshold: this maximum working threshold has a value below which the values of the kinematic parameter must remain, in order to ensure proper operation of the crane and to prevent damage to the crane.
  • the kinematic parameter can correspond to a speed parameter of one of the moving parts of the crane set in motion by the maneuvers of the crane, and the maximum working threshold then corresponds to a maximum speed that said moving part does not must not protrude when the crane is used in the working configuration.
  • the selection sub-step then consists in associating (for example by means of the maintenance module) with each maintenance maneuver selected during the selection step a maximum maintenance threshold less than or equal to the maximum working threshold: this maximum threshold of maintenance has a value below which the values of the kinematic parameter must remain when the maintenance maneuver is carried out during the piloting step.
  • the maximum maintenance threshold corresponds to a maximum speed that said moving part must not exceed when the crane is used in the maintenance configuration.
  • the selection sub-step therefore allows the maintenance technician to choose the value of the maximum maintenance threshold below which the values of the kinematic parameter must remain during the control step.
  • this value of the maximum maintenance threshold can also be chosen or configured beforehand within the framework of a pre-established maintenance scenario. Once the value of this maximum maintenance threshold has been chosen on the maintenance module, the latter transmits a control signal to the crane control system forcing the control of the maintenance maneuver to be limited.
  • the kinematic parameter cannot exceed the maximum maintenance threshold, regardless of the piloting commands sent by the crane operator by means of the piloting device.
  • the limitation step thus allows the maintenance technician to "restrain" the operation of the crane and to impose high limits on the kinematics of the maintenance maneuver, in order to be able to study the maintenance maneuver in a slower and lesser manner. dangerous only if this maintenance maneuver were carried out under normal working conditions, when the crane is in working configuration.
  • the kinematic parameter corresponds to a speed of the maintenance movement
  • the maximum working threshold corresponds to a maximum working speed
  • the maximum maintenance threshold corresponds to a maximum maintenance speed
  • said maintenance movement then having, during the piloting step, a speed less than or equal to said maximum maintenance speed, said maximum maintenance speed being less than or equal to said maximum working speed.
  • the kinematic parameter corresponds to an amplitude of the maintenance displacement
  • the maximum working threshold corresponds to a maximum working amplitude
  • the maximum maintenance threshold corresponds to a maximum maintenance amplitude
  • said maintenance movement then having, during the piloting step, an amplitude less than or equal to said maximum maintenance amplitude, said maximum maintenance amplitude being less than or equal to said maximum working amplitude.
  • the kinematic parameter corresponds to an acceleration of the maintenance movement
  • the maximum working threshold corresponds to a maximum working acceleration
  • the maximum maintenance threshold corresponds to a maximum maintenance acceleration
  • the maintenance technician can thus limit in amplitude, speed or even acceleration the maintenance maneuver he has selected, in order to be able to observe, for example, movements of the moving parts implemented by it smaller and less fast.
  • the maximum maintenance threshold is selected from at least two distinct thresholds including a low threshold and a high threshold.
  • the maximum maintenance threshold is selected only between the low threshold and the high threshold.
  • the invention therefore contemplates that the maximum maintenance threshold be chosen by the maintenance technician from a finite list of possible pre-parameterized thresholds, each being less than or equal to the maximum working threshold.
  • the maintenance technician can for example choose, during the selection sub-step, to operate the crane in a “slow mode”, in which the kinematics of the maintenance maneuver is speed limited below a low speed threshold much lower than the maximum working threshold.
  • the maintenance method comprises a calibration step consisting in adjusting a value of the high threshold and / or a value of the low threshold.
  • This calibration step can thus allow the maintenance technician to attribute a value of his choice to the low threshold and to the high threshold, before choosing one or the other during the selection sub-step.
  • the calibration step is prior to the selection sub-step and that the limitation step is subsequent to the selection step: the maintenance technician then begins by adjusting the value of the low threshold. and the high threshold before the selection step, then selects the maintenance maneuver during the selection step, then chooses one or the other of the low threshold and the high threshold during the selection sub-step, in order to limit the kinematics of the maintenance maneuver.
  • maintenance module which may in particular have natures of different types and be located in various positions relative to the crane.
  • the maintenance module is a portable device and is not fixed to the crane, said maintenance module being in wireless connection with the control-command system of the crane.
  • the maintenance technician can thus take the maintenance module with him when moving around the crane, so as to be able to carry out the selection, limitation and / or calibration steps at the same place where it is located, without having to continually return to a fixed position where said maintenance module would be located.
  • This embodiment also has a great operational advantage: a maintenance technician can perform maintenance operations on several distinct cranes by means of a single maintenance module compatible with each of them (that is to say , being adapted to be linked with the control-command system of each of the cranes concerned), for example as part of an after-sales service provided by the manufacturer of said cranes to their respective operators.
  • the maintenance module is a device integrated into the crane, for example located near the switch on the foot of the crane.
  • the maintenance module is a device external to the crane and can be directly connected to the latter at a dedicated location.
  • the maintenance module can also be a device external to the crane which can be connected by wire connection to the control-command system of said crane.
  • the maintenance module can also have a suitable interface to allow in particular the maintenance technician to perform in a simple and rapid manner the selection of the maintenance maneuver during the selection step, to select the maximum maintenance threshold during the sub- step of selection of the limitation step.
  • the interface of the maintenance module being able to present a selection device comprising, for example, touch screens, keyboards, or even functional keys or buttons (or a combination of these elements), said selection device being able to be associated with one or more display screens.
  • the selection sub-step is carried out by means of a maintenance module selection device, said selection device having at least a first selection member and a second selection member designed to be manipulated by an operator. , said first selection member and second selection member being separated from each other by a distance the measurement of which is greater than 20 or 30 centimeters, so that said first selection member and second selection member cannot be simultaneously operated with one hand by the same operator.
  • This feature is optional, but it is all the same advantageous because it makes it possible to improve the safety of the maintenance technician when the latter chooses as the maximum maintenance threshold the value of the high threshold, that is to say when he chooses to authorize the piloting of the maintenance maneuver by the crane operator in conditions close to those of the work configuration (the high threshold presenting a value equal to that of the maximum working threshold): in fact, the crane operator can then, for example, control the maintenance maneuver at high speed, potentially putting the maintenance technician in danger.
  • the first selection member and the second selection member are arranged so that the maintenance technician cannot accidentally or inadvertently actuate them both at the same time with one hand: if the maintenance technician maintenance wishes to select the high threshold, it is then necessary for him to use both hands to make this selection by means of the maintenance module, thus reducing the probability of errors.
  • the first selection member and the second selection member may consist of pushbuttons, the combined manipulation of which enables the maintenance technician to carry out the selection steps and the selection sub-step of the limitation step.
  • the crane control system is thus suitable for setting up a monitoring of the kinematics of the maintenance maneuver carried out during the piloting stage, so as to guarantee that the speed limitation imposed by the maintenance technician on the crane operator during the limitation stage is effectively observed.
  • the instrumentation and control system comprises at least one physical sensor capable of measuring the speed of a moving part of the crane set in motion during the performance of the maintenance maneuver. This measurement can be direct, for example by means of one or more tachometers, or else indirect.
  • This speed measurement is then compared by the instrumentation and control system to the maintenance limit threshold, obtained by adding the maximum threshold of maintenance and a predefined maintenance tolerance margin: this maintenance tolerance margin makes it possible to take into account the uncertainties of the speed measurement and can be freely set.
  • the instrumentation and control system triggers an emergency stop of the crane, interrupting any maneuver during piloting.
  • the crane control system is thus also suitable for setting up a monitoring of the kinematics of the maintenance maneuver when the crane is in working configuration, so as to guarantee that the speed of a moving part of the crane set in motion during the performance of the maintenance maneuver does not exceed the maximum working threshold, in order to avoid any damage to the crane.
  • the instrumentation and control system is suitable for comparing the speed measurement carried out by means of the physical sensor (s) of the instrumentation and control system with the working limit threshold, obtained by adding the maximum working threshold and a predefined working tolerance margin allowing the uncertainties of the speed measurement to be taken into account and which can be freely set.
  • the maintenance tolerance margin is chosen to be less than the working tolerance margin: the kinematics of the maintenance maneuver is thus monitored with a tighter tolerance when the crane is in the configuration of maintenance only when it is in working configuration, in order to guarantee the safety of the maintenance technician.
  • the maintenance module sends acknowledgment signals to the control system, said instrumentation and control system being suitable for measuring a time elapsed since the reception of a last acknowledgment signal sent by the maintenance module, said instrumentation and control system being configured to trigger a step for immediately stopping the operation of the crane when said duration is greater than a previously defined limit duration.
  • This feature ensures the safety of the maintenance technician in the event of an interruption in communication between the maintenance module and the crane control system.
  • the maintenance module and the instrumentation and control system exchange, for example at regular intervals, acknowledgment signals making it possible to confirm the correct reception of the information and commands transmitted between them: if the instrumentation and control system of the crane does not receive any acknowledgment signal for a time interval greater than a limit time (sometimes called " time-out " duration) previously established, this means that communication with the maintenance module is broken and that the technician's instructions maintenance data entered by means of the maintenance module cannot be taken into account and applied by the crane control system.
  • a limit time sometimes called " time-out " duration
  • the instrumentation and control system therefore triggers an emergency stop of the crane if this time limit is exceeded.
  • the time limit is set at 100 milliseconds.
  • the crane control-command system is suitable for detecting, for each maneuver, at least one movement characteristic of said maneuver, said maintenance control system being configured to trigger an immediate stop of the operation of the crane if it detects at least one movement characteristic of a maneuver that has not been previously selected during the selection step.
  • the crane control-command system is thus capable of identifying each possible maneuver of the crane by at least one characteristic movement, and comprises at least one movement sensor making it possible to detect said characteristic movements of said maneuvers.
  • the instrumentation and control system detects a movement characteristic of one of the maneuvers whose piloting was blocked during the step of the step of changing the crane configuration but was not released during the unlocking step (i.e. the maneuver not having been selected by the maintenance technician during the selection step), this means that the blocking of the control of the crane maneuvers is not performed perfectly by the instrumentation and control system and that the maintenance method according to the invention is not correctly implemented.
  • the instrumentation and control system triggers an emergency stop of the crane to guarantee the safety of the maintenance technician.
  • the invention also relates to a crane which can be configured between a working configuration and a maintenance configuration, said crane comprising an instrumentation and control system connected to a piloting device provided to allow, when said crane is in the working configuration, a control of a plurality of maneuvers each implementing at least one movement of at least one mobile part of said crane, in which the instrumentation and control system is adapted to block the piloting, by means of the piloting device, of at least one maneuver among the plurality of maneuvers, said crane comprising a maintenance control system connected to the instrumentation and control system and adapted to pass said crane into the maintenance configuration, in which the piloting, by means of the piloting device, of at least one maneuver among the plurality operations is blocked by the instrumentation and control system, and in which the control-command system is designed to be linked to a maintenance module and is adapted to unlock, when the crane is in the maintenance configuration and as a function of commands issued by said maintenance module, the control of 'at least one maneuver from among the plurality of maneuvers the piloting of which is blocked by
  • the maintenance control system is an automated maintenance control system.
  • the maintenance control system is a switch, already described above and such as for example a physical switch or a virtual switch on a screen interface.
  • the maintenance module is a portable device and is not fixed to the crane, said maintenance module being in wireless connection with the control-command system of the crane.
  • the figure 1 shows a crane 1 according to the invention, comprising a mast M extending substantially in a vertical direction V (perpendicular to a ground S on which the mast M is placed) and supporting a boom F which is substantially horizontal and articulated in rotation with respect to the mast M.
  • the mast M thus has a foot P, located near the ground S, and a top SO, near its articulation with the arrow F.
  • the crane 1 also comprises a pilot's cabin C, fixed to the top SO of the mast M and inside which a piloting device 2 is arranged.
  • This piloting device 2 is designed to be handled by a crane operator present in the pilot's cabin C, in order to perform various maneuvers of the crane.
  • the piloting device is a radio-controlled piloting device for remote piloting by the crane operator.
  • the crane operator can, by means of the piloting device 2, control a horizontal pivoting movement of the jib F relative to the mast M, or a movement of a block MO of the crane along said jib F, or one again vertical lifting movement of a load (not shown) connected to said MO block.
  • This piloting device 2 is linked to a control-command system 4 (not shown in the figure 1 ) of the crane, said control-command system 4 being particularly suitable for controlling actuators (also not shown) of said crane in order to perform maneuvers controlled by the crane operator by means of the piloting device 2.
  • control system 4 can be adapted to control, according to commands transmitted by the control device 2, a motor arranged at the top of the mast M so in exerting on the boom F a mechanical torque capable of causing it to rotate.
  • the working configuration is the configuration in which the crane 1 is found most of the time when the latter is in operation, while the maintenance configuration is particularly suitable for implementing a maintenance method 100 according to the invention, said maintenance method 100 making it possible to carry out maintenance operations on the crane 1.
  • the switch 3 consists of a key system comprising a lock 31 cooperating with a key 32: by turning the key 32 in the lock 31 in opposite directions, the maintenance technician can thus alternately switch the crane 1 from the configuration of work on the maintenance configuration, and vice versa.
  • Switch 3 is positioned close to the ground S and is intended to be handled by a maintenance technician T (not shown in figure 1 ): due to the relative positioning of the cockpit C (in height on the mast M) and the switch 3 (close to the ground S), the same operator cannot therefore simultaneously control the maneuvers of crane 1 by means of control device 2 and activate switch 3.
  • the performance of the maintenance operations made possible by the manipulation of the switch 3 requires the presence of at least two operators on the crane 1: a maintenance technician T, positioned outside the cockpit C, studying the movements of the crane 1 and carrying out any repairs, and a crane operator, positioned in the cockpit C, performing certain maneuvers of the crane at the request of the maintenance technician T, as will be described below.
  • the maintenance technician is also equipped with a maintenance module 5 which is portable and is not attached to the crane 1.
  • This maintenance module 5 is in wireless connection with the control-command system 4 of the crane 1 and allows the maintenance technician T to impose the control of certain maneuvers on the crane operator during the maintenance method 100 according to the invention. .
  • the wireless communication between the maintenance module 5 and the crane 1 is reciprocal, the maintenance module 5 being able to send and receive information from the control-command system 4 of the crane 1, and vice versa.
  • the maintenance module 5 and the crane 1 thus form a maintenance assembly 101 adapted to the implementation of the maintenance method 100.
  • the figure 2 details the different steps of a maintenance method 100 according to the invention, suitable for carrying out maintenance operations on the crane 1 by cooperation between the maintenance technician T and the crane operator.
  • the maintenance method 100 includes a configuration change step 6 making it possible to switch the crane 1 from the working configuration to the maintenance configuration.
  • the instrumentation and control system 4 prevents the piloting of all the maneuvers of the crane: other embodiments are possible, in which certain predefined maneuvers remain controllable by the crane operator at the end of sub-step 63.
  • the maintenance method 100 then comprises a calibration step 7 formed by a single sub-step 71 during which the maintenance technician has the possibility of assigning, by means of the maintenance module 5, values of his choice to two parameters, one high threshold and a low threshold, the role of which will be explained below.
  • the values of these two parameters are kept in memory by the maintenance module 5 and are such that the value of the low threshold is lower than that of the high threshold.
  • the maintenance method 100 then comprises a selection step 8 formed of a single sub-step 81, during which the maintenance technician T selects by means of the maintenance module 5 a maintenance maneuver from among the crane maneuvers of which piloting is blocked by the instrumentation and control system 4: this maintenance maneuver is a crane maneuver that the maintenance technician T wishes to see carried out by the crane operator by means of the piloting device 2, for example to check the efficiency some repairs.
  • Sub-step 81 can be performed in many different ways, depending on the type of maintenance module 5.
  • the maintenance module 5 comprises a first push button B1 and a second push button B2, as well as indicator lights 51, each of these indicator lights 51 corresponding to a particular maneuver of the crane 1.
  • the maintenance technician T keeps the first push-button B1 pressed and repeatedly presses the second push-button B2: each press on this second push-button B2 selects a new maneuver and the indicator light 51 associated with the latter lights up to inform maintenance technician T of the selected maneuver.
  • the maintenance module 5 comprises a touch screen on which the maintenance technician T can directly select a maintenance maneuver.
  • the maintenance module 5 transmits to the control-command system 4 an instruction for unlocking said maintenance maneuver during a sub-step 91, then the control-command system 4 effectively unlocks the piloting by the control device 2 of this maintenance maneuver.
  • Sub-step 91 and sub-step 92 together form a step 9 for unlocking the maintenance method 100.
  • the crane operator is able to control the maintenance maneuver by means of the control device 2.
  • the maintenance method 100 then comprises a limitation step 10, allowing the maintenance technician T to limit the kinematics of the maintenance maneuver controlled by the crane operator, and in particular to limit the speed of the moving part (s) set in motion at the during this maintenance maneuver.
  • This limitation step 10 more precisely comprises a selection sub-step 101, during which the maintenance technician T chooses one or the other of the high threshold and the low threshold, the values of which were configured during the sub-step 71.
  • This high threshold and this low threshold constitute two possible values of a maximum maintenance threshold which defines a speed limit that the moving part (s) set in motion during the maintenance maneuver must not exceed.
  • the maximum maintenance threshold represents the speed below which the maintenance technician T wishes to see the maintenance maneuver carried out.
  • the maintenance technician T wants the crane operator to perform the maintenance maneuver at reduced speed, for example in order to be able to observe in detail the operation of the crane 1 or to limit the damage suffered by the latter in the event of a malfunction, he will choose the low threshold during sub-step 101.
  • the high threshold is equal to a maximum working threshold, which defines a speed limit that the moving part (s) set in motion during the maintenance maneuver must not exceed when the crane 1 is in operation. in working configuration: the choice of the high threshold by the maintenance technician T then amounts to authorizing the crane operator to control the maintenance maneuver under the same conditions as if the crane were in working configuration.
  • the maintenance module 5 presents (as visible on the figure 1 ) a third pushbutton B3: the maintenance technician can indicate his choice of the low threshold by holding down the second pushbutton B2, and his choice of the high threshold by simultaneously holding down the second pushbutton B2 and the third pushbutton B3.
  • the second push button B2 and the third push button B3 are positioned on the maintenance module 5 so that it is impossible for the maintenance technician T to keep them simultaneously pressed using only one hand: the second push button B2 and the third push button B3 are in fact separated from each other by a separation distance 52 greater than 20 or 30 centimeters, exceeding the span of the hands of the maintenance technician T.
  • first pushbutton B1, the second pushbutton B2 and the third pushbutton B3 do not protrude from the maintenance module 5 and are flush with the surface thereof: in this way, the risk of tampering with one of these pushbuttons B1, B2, B3 inadvertently by the maintenance technician T is minimized.
  • the maintenance module 5 transmits to the control-command system 4 a limitation instruction during a sub-step 102, then the control system -control 4 effectively limits the kinematics of the maintenance maneuver during a sub-step 103, so that the movement (s) implemented by the latter cannot exceed the selected high threshold or low threshold.
  • the limitation step 10 therefore allows the maintenance technician T to “restrain” the operation of the crane 1 and require the crane operator to control the maintenance maneuver at reduced speed.
  • the crane operator can control the maintenance maneuver selected by the maintenance technician (during sub-step 81), at the speed also selected by the maintenance technician (during sub-step 101). ).
  • the crane operator thus manipulates the piloting device 2, then this piloting device transmits to the control-command system 4, during a sub-step 111, piloting instructions, so that the latter actually performs the maintenance maneuver requested by the operator. maintenance technician T.
  • the succession of steps of change of configuration 6, of selection 8, of release 9, then of limitation 10 allows the maintenance technician T to work in complete safety on the crane 1, while ensuring that the crane operator cannot control only the single maintenance maneuver that he himself has selected on the maintenance module 5, and at the maximum speed that he has also chosen: any danger linked to a piloting error by the crane operator or to poor communication between the crane operator and the maintenance technician T is thus avoided.
  • steps of the maintenance method 100 can be repeated several times in succession, so as to authorize consecutively several distinct maintenance maneuvers and thus perform several maintenance operations on the crane 1 in turn.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)
EP21154751.8A 2020-02-06 2021-02-02 Verfahren zur wartung eines krans Pending EP3862310A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR2001157A FR3107046B1 (fr) 2020-02-06 2020-02-06 Procédé de maintenance d’une grue

Publications (1)

Publication Number Publication Date
EP3862310A1 true EP3862310A1 (de) 2021-08-11

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Application Number Title Priority Date Filing Date
EP21154751.8A Pending EP3862310A1 (de) 2020-02-06 2021-02-02 Verfahren zur wartung eines krans

Country Status (3)

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EP (1) EP3862310A1 (de)
CN (1) CN113291988A (de)
FR (1) FR3107046B1 (de)

Cited By (1)

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CN114291734B (zh) * 2021-12-30 2023-04-07 咸阳唐安昌科技有限公司 智能电动葫芦控制系统

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US20100116767A1 (en) 2007-04-19 2010-05-13 Liebherr-Werk Nenzing Gmnh Method for controlling a load-moving device and controller of a load-moving device
CN201753235U (zh) 2010-08-23 2011-03-02 青岛港（集团）有限公司 一种集装箱岸边起重机
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CN113291988A (zh) 2021-08-24
FR3107046A1 (fr) 2021-08-13

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