FR2614610A1 - SYSTEM FOR OPERATING AND CONTROLLING A HYDRAULIC CRANE WITH ARTICULATED ARMS - Google Patents

SYSTEM FOR OPERATING AND CONTROLLING A HYDRAULIC CRANE WITH ARTICULATED ARMS Download PDF

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Publication number
FR2614610A1
FR2614610A1 FR8706122A FR8706122A FR2614610A1 FR 2614610 A1 FR2614610 A1 FR 2614610A1 FR 8706122 A FR8706122 A FR 8706122A FR 8706122 A FR8706122 A FR 8706122A FR 2614610 A1 FR2614610 A1 FR 2614610A1
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France
Prior art keywords
crane
control
lever
hydraulic
computer
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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
Application number
FR8706122A
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French (fr)
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FR2614610B1 (en
Inventor
Philippe Blanc
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.)
MECA STE MONTALBANA CONST
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MECA STE MONTALBANA CONST
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Publication date
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Priority to FR8706122A priority Critical patent/FR2614610B1/en
Priority to EP88400400A priority patent/EP0289367A3/en
Publication of FR2614610A1 publication Critical patent/FR2614610A1/en
Application granted granted Critical
Publication of FR2614610B1 publication Critical patent/FR2614610B1/en
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
    • B66C13/54—Operator's stands or cabins
    • B66C13/56—Arrangements of handles or pedals

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

SYSTEME DE COMMANDE ET DE PILOTAGE D'UNE GRUE HYDRAULIQUE A BRAS ARTICULES CARACTERISE EN CE QU'IL EST CONSTITUE D'UN LEVIER DU TYPE " STICK " A TROIS AXES DE COMMANDE : - LA ROTATION DU LEVIER SUR LUI-MEME COMMANDANT LA ROTATION DE LA GRUE PAR RAPPORT A SON SUPPORT, NOTAMMENT SUR SA TOURELLE; - LES DEUX AUTRES AXES, ORTHOGONAUX, SERVANT A OBTENIR LES COMPOSANTES HORIZONTALES ET VERTICALES DE LA VITESSE SOUHAITEE DE LA CHARGE.CONTROL AND CONTROL SYSTEM OF A HYDRAULIC CRANE WITH ARTICULATED ARMS CHARACTERIZED IN THAT IT CONSISTS OF A "STICK" TYPE LEVER WITH THREE CONTROL AXES: - THE ROTATION OF THE LEVER ON ITSELF CONTROLLING THE ROTATION OF THE CRANE IN RELATION TO ITS SUPPORT, ESPECIALLY ON ITS TURRET; - THE TWO OTHER AXES, ORTHOGONAL, SERVING TO OBTAIN THE HORIZONTAL AND VERTICAL COMPONENTS OF THE DESIRED SPEED OF THE LOAD.

Description

La présente invention est relative à un système de conduite d'une grueThe present invention relates to a crane control system

hydraulique à bras articulés.hydraulic with articulated arms.

On sait que les systèmes de commande des mouvements d'une grue hydraulique à bras articulés exige de la part de l'utilisateur de piloter directement les distributeurs hydrauliques de chaque mouvement des bras. Une telle commande, dans les systèmes connus, s'effectue soit mécaniquement, soit  It is known that the systems for controlling the movements of a hydraulic crane with articulated arms requires from the user to directly control the hydraulic distributors for each movement of the arms. Such control, in known systems, is carried out either mechanically or

électriquement, et éventuellement en utilisant un système de télécommande.  electrically, and possibly using a remote control system.

Les bras d'une grue hydraulique étant articulés les uns par rapport aux autres, on conçoit qu'il faut à l'utilisateur une grande habitude pour apprécier la trajectoire de la charge en fonction d'une action sur un distributeur commandant l'un des mouvements des bras articulés. En effet, une même action sur un distributeur peut, par exemple, engendrer soit une montée soit une descente de la charge, selon la position des bras. Les systèmes connus présentent en particulier une quasi impossibilité de décrire des trajectoires horizontales ou  The arms of a hydraulic crane being articulated with respect to each other, it is understandable that it takes a great habit for the user to appreciate the trajectory of the load according to an action on a distributor controlling one of the articulated arm movements. Indeed, the same action on a dispenser can, for example, cause either a rise or a fall of the load, depending on the position of the arms. Known systems present in particular an almost impossibility of describing horizontal trajectories or

verticales.vertical.

La présente invention se propose d'apporter un système de conduite et de p4lotage d'une grue hydraulique à bras articulés, ou de tout autre système similaire, permettant un maniement plus simple et plus intuitif tout en apportant  The present invention proposes to provide a system for driving and controlling a hydraulic crane with articulated arms, or any other similar system, allowing simpler and more intuitive handling while providing

une grande précision de contrôle de la trajectoire des bras articulés.  great precision in controlling the trajectory of the articulated arms.

A cet effet, l'invention concerne un système de commande et de pilotage d'une grue hydraulique à bras articulés caractérisé en ce qu'il est constitué d'un levier du type "stick" à trois axes de commande: - la rotation du levier sur lui-méme commandant la rotation de la grue par rapport à son support, notamment sur sa tourelle; - les deux autres axes, orthogonaux, servant à obtenir les composantes  To this end, the invention relates to a control and piloting system for a hydraulic crane with articulated arms, characterized in that it consists of a lever of the "stick" type with three control axes: - the rotation of the lever on itself controlling the rotation of the crane with respect to its support, in particular on its turret; - the other two axes, orthogonal, used to obtain the components

horizontales et verticales de la vitesse souhaitée de la charge.  horizontal and vertical of the desired speed of the load.

On comprend que grâce à ce système, le mouvement de la grue correspond à la position du levier ou "stick" ce qui rend le maniement de la grue plus simple  We understand that thanks to this system, the movement of the crane corresponds to the position of the lever or "stick" which makes the handling of the crane simpler.

et plus intuitif.and more intuitive.

Selon un mode de réalisation préféré, le système selon l'invention est caractérisé en ce qu'il comporte: - un ensemble de capteurs, mesurant à tout instant la quantité du fluide hydraulique délivré à chaque vérin de poussée et donc la position géométrique de chaque bras articulé (conformément au dispositif décrit dans la demande de brevet déposée le mÉme Jour que la présente demande par le méme titulaire pour un "dispositif de mesure de la position géométrique des bras articulés d'une grue mobile"); - un boîtier de commande, muni dudit levier ou "stick", sur lequel l'utilisateur affiche le vecteur vitesse souhaité pour la charge dans un repère en coordonnées cartésiennes; - un calculateur pour déterminer les débits de fluide hydraulique devant alimenter les vérins pour obtenir la trajectoire désirée et - des distributeurs hydrauliques à commande électrique proportionnelle pour convertir les tensions électriques de commande issues du calculateur, en  According to a preferred embodiment, the system according to the invention is characterized in that it comprises: - a set of sensors, measuring at all times the quantity of hydraulic fluid delivered to each thrust cylinder and therefore the geometric position of each articulated arm (in accordance with the device described in the patent application filed on the SAME DAY as the present application by the same owner for a "device for measuring the geometric position of articulated arms of a mobile crane"); - a control unit, provided with said lever or "stick", on which the user displays the desired speed vector for the load in a coordinate system in Cartesian coordinates; - a computer to determine the hydraulic fluid flow rates to supply the cylinders to obtain the desired trajectory and - hydraulic distributors with proportional electrical control to convert the electrical control voltages from the computer,

débits, délivrés aux vérins.flows, delivered to the cylinders.

Selon une autre caractéristique de cette invention le calculateur peut en outre interdire certains mouvements demandés par l'utilisateur lorsque ceux-ci risquent d'engendrer un dépassement des limites de sécurité de la grue ou de  According to another characteristic of this invention, the computer can also prohibit certain movements requested by the user when these risk causing the crane safety limits to be exceeded or

renverser le véhicule porteur.overturn the carrier vehicle.

Bien entendu, cette invention n'est pas limitée aux exemples de  Of course, this invention is not limited to the examples of

réalisation décrits ci-dessus mais elle en englobe toutes les variantes.  embodiment described above but it encompasses all variants.

26 1461026 14610

Claims (3)

REVENDICATIONS 1- Système de commande et de pilotage d'une grue hydraulique a bras articulés caractérisé en ce qu'il est constitué d'un levier du type "stick" & trois axes de commande: - la rotation du levier sur lui-même commandant la rotation de la grue par rapport à son support, notamment sur sa tourelle; - les deux autres axes, orthogonaux, servant à obtenir les composantes  1- Control and piloting system of a hydraulic crane with articulated arms characterized in that it consists of a lever of the "stick" type & three control axes: - the rotation of the lever on itself controlling the rotation of the crane relative to its support, in particular on its turret; - the other two axes, orthogonal, used to obtain the components horizontales et verticales de la vitesse souhaitée de la charge.  horizontal and vertical of the desired speed of the load. 2- Système selon la revendication l, caractérisé en ce qu'il comporte: un ensemble de capteurs, mesurant à tout instant la quantité du fluide hydraulique délivré à chaque vérin de poussée et donc la position géométrique de chaque bras articulé; - un boitier de commande, muni dudit levier ou "stick", sur lequel l'utilisateur affiche le vecteur vitesse souhaité pour la charge dans un repère en coordonnées cartésiennes; - un calculateur pour déterminer les débits de fluide hydraulique devant alimenter les vérins pour obtenir la trajectoire désirée et - des distributeurs hydrauliques à commande électrique proportionnelle pour convertir les tensions électriques de commande issues du calculateur, en  2- System according to claim l, characterized in that it comprises: a set of sensors, measuring at all times the quantity of hydraulic fluid delivered to each thrust cylinder and therefore the geometric position of each articulated arm; - a control box, provided with said lever or "stick", on which the user displays the desired speed vector for the load in a coordinate system in Cartesian coordinates; - a computer to determine the hydraulic fluid flow rates to supply the cylinders to obtain the desired trajectory and - hydraulic distributors with proportional electrical control to convert the electrical control voltages from the computer, débits, délivrés aux vérins. -flows, delivered to the cylinders. - 3- Système selon l'une quelconque des revendications précédentes,  3- System according to any one of the preceding claims, caractérisé en ce que le calculateur est conçu de manière à interdire certains mouvements demandés par l'utilisateur lorsque ceux-ci risquent d'engendrer un  characterized in that the computer is designed so as to prohibit certain movements requested by the user when these are likely to generate a dépassement des limites de sécurité de la grue.  exceeding the safety limits of the crane.
FR8706122A 1987-04-29 1987-04-29 SYSTEM FOR OPERATING AND CONTROLLING A HYDRAULIC CRANE WITH ARTICULATED ARMS Expired - Fee Related FR2614610B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR8706122A FR2614610B1 (en) 1987-04-29 1987-04-29 SYSTEM FOR OPERATING AND CONTROLLING A HYDRAULIC CRANE WITH ARTICULATED ARMS
EP88400400A EP0289367A3 (en) 1987-04-29 1988-02-22 Driving and guiding system for a hydraulic crane with articulating arms

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8706122A FR2614610B1 (en) 1987-04-29 1987-04-29 SYSTEM FOR OPERATING AND CONTROLLING A HYDRAULIC CRANE WITH ARTICULATED ARMS

Publications (2)

Publication Number Publication Date
FR2614610A1 true FR2614610A1 (en) 1988-11-04
FR2614610B1 FR2614610B1 (en) 1991-03-29

Family

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FR8706122A Expired - Fee Related FR2614610B1 (en) 1987-04-29 1987-04-29 SYSTEM FOR OPERATING AND CONTROLLING A HYDRAULIC CRANE WITH ARTICULATED ARMS

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EP (1) EP0289367A3 (en)
FR (1) FR2614610B1 (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1081821A (en) * 1953-05-04 1954-12-23 Device for the individual or simultaneous maneuvering of three perpendicular shafts to each other
DE951763C (en) * 1953-03-08 1956-10-31 Kienzle Feinbau K G Hydraulic control unit for unloading and transport devices
US3814199A (en) * 1972-08-21 1974-06-04 Cleveland Machine Controls Motor control apparatus adapted for use with a motorized vehicle
US3870161A (en) * 1973-02-28 1975-03-11 Heede International Inc Joy stick controller for tower crane
FR2256101A1 (en) * 1973-12-28 1975-07-25 Biron Didier Telescopic jib crane overload protection system - compares jib angle derricking force with permissible maxima
DE2759263A1 (en) * 1977-12-31 1979-07-05 Kracht Pumpen Motoren MONITORING SYSTEM FOR HYDRAULICALLY OPERATED FITTINGS
US4281561A (en) * 1979-10-09 1981-08-04 Spar Aerospace Limited Three axes controller
FR2501660A1 (en) * 1981-03-16 1982-09-17 Precilec Safety circuit preventing overload condition in e.g. fork lift truck - uses CPU to address force, load detectors and jib length detectors, and issue cut=off signals to relays in power circuits

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1002966C2 (en) * 1955-07-21 1957-07-25 Hans Juergen Dudenhausen Dipl Multi-axis dynamometer

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE951763C (en) * 1953-03-08 1956-10-31 Kienzle Feinbau K G Hydraulic control unit for unloading and transport devices
FR1081821A (en) * 1953-05-04 1954-12-23 Device for the individual or simultaneous maneuvering of three perpendicular shafts to each other
US3814199A (en) * 1972-08-21 1974-06-04 Cleveland Machine Controls Motor control apparatus adapted for use with a motorized vehicle
US3870161A (en) * 1973-02-28 1975-03-11 Heede International Inc Joy stick controller for tower crane
FR2256101A1 (en) * 1973-12-28 1975-07-25 Biron Didier Telescopic jib crane overload protection system - compares jib angle derricking force with permissible maxima
DE2759263A1 (en) * 1977-12-31 1979-07-05 Kracht Pumpen Motoren MONITORING SYSTEM FOR HYDRAULICALLY OPERATED FITTINGS
US4281561A (en) * 1979-10-09 1981-08-04 Spar Aerospace Limited Three axes controller
FR2501660A1 (en) * 1981-03-16 1982-09-17 Precilec Safety circuit preventing overload condition in e.g. fork lift truck - uses CPU to address force, load detectors and jib length detectors, and issue cut=off signals to relays in power circuits

Also Published As

Publication number Publication date
EP0289367A2 (en) 1988-11-02
EP0289367A3 (en) 1990-02-07
FR2614610B1 (en) 1991-03-29

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