US3679179A - Method for regulating the lifting of an arm articulated on a structure and lifting apparatus for carrying out this method - Google Patents

Method for regulating the lifting of an arm articulated on a structure and lifting apparatus for carrying out this method Download PDF

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Publication number
US3679179A
US3679179A US46592A US3679179DA US3679179A US 3679179 A US3679179 A US 3679179A US 46592 A US46592 A US 46592A US 3679179D A US3679179D A US 3679179DA US 3679179 A US3679179 A US 3679179A
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United States
Prior art keywords
jack
arm
conduit
chamber
feed
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Expired - Lifetime
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US46592A
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English (en)
Inventor
Pierre A Praddaude
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Poclain SA
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Poclain SA
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/20—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members
    • 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
    • B66C2700/00—Cranes
    • B66C2700/06—Cranes in which the lifting movement is done with a hydraulically controlled plunger
    • B66C2700/062—Cranes in which the lifting movement is done with a hydraulically controlled plunger mounted on motor vehicles
    • B66C2700/065—Cranes in which the lifting movement is done with a hydraulically controlled plunger mounted on motor vehicles with a slewable jib

Definitions

  • ABSTRACT This invention relates to a method of regulation for lifting, at the maximum possible speed, an arm articulated on a resistant structure, by means of a jack fed with pressurized fluid, without the power consumed exceeding a displayed value, wherein the position of at least one of the axes of articulation of the jack is servo-controlled to the value of the supply pressure of said jack.
  • the invention also relates to lifting apparatus applying the above method, constituted by an arm articulated on a structure, by a jack coupled between the arm and an element whose position is adjustable with respect to the structure, and by a member for controlling the position of said element, wherein the control member is controlled by the feed pressure of the jack.
  • the relative orientation of two elements is controlled with the aid of a hydraulic jack, for example coupled between the two elements.
  • the jib of a public works machine is oriented thus with respect to the turret or the platform on which said jib is articulated.
  • the maneuver should be carried out in the shortest possible time. To this end, it is sufficient to choose the different elements, type of jack and position thereof on the turret and on the arm, length of the arm, etc., accordingly.
  • the maneuver of certain load at the end of a jib for example; is effected in a certain time, the maneuver of a load which is twice as small is carried out in the same amount of time.
  • the torque necessary for lifting is twice as low in the second case as in the first, it would have been desirable, while operating at constant power, to effect the second maneuver twice as rapidly as the first, assuming, moreover, that the first load were equal to the limiting lifting load. This is not the case, as no known device permits this type of operation.
  • the invention therefore has for its object, in the first place, a method of regulation for lifting, at the maximum possible speed, an arm articulated to a resistant structure, by means of jack fed with pressurized fluid, without the power consumed exceeding a displayed value.
  • the servo-control of the position of at least one of the axes of articulation of the jack to the value of the speed pressure of said jack is effected.
  • the invention also has for its object a lifting apparatus constituted by an arm articulated to a structure by a jack coupled between the arm and an element whose position is adjustable with respect to the structure, and by a member for controlling the position of said element.
  • the control member is controlled by the feed pressure of the jack.
  • the member for controlling the position of the element is constituted by a second jack coupled between the structure and said element, this second jack being placed in selective communication with a pressurized fluid supply and with a discharge tank.
  • the selective communication is effected by a slide valve, said slide being subjected to the action of the fluid of a conduit branched to the pressurized fluid feed of the jack coupled between the arm and the adjustable element.
  • An advantageous variant embodiment consists in that in addition, a cutting unit, interposed on the feed and delivery conduits of the jack coupled between the arm and the adjustable element, ensures the communication of the second jack with the pressurized fluid supply when a first chamber of the jack coupled between the arm and the adjustable element is fed with pressurized fluid, while it isolates said second jack when said first chamber of the jack coupled between the arm and the adjustable element is isolated.
  • the first chamber of the jack coupled between the arm and the adjustable element is that which is placed in communication with the pressurized fluid feed during the lifting of the arm articulated to the structure.
  • the cutting unit is preferably constituted by a first non return valve arranged on a conduit branched in shunt on the conduit that may be connected to the feed of the first chamber of the jack coupled between the arm and the adjustable element and capable of being connected to one of the chambers of the second jack.
  • Second and third non-return valves are arranged on a conduit capable of being connected to the other chamber of the second jack and are mounted in opposition.
  • the third non-return valve arranged beyond the second non-return valve with respect to the second valve is controlled by the pressure of the fluid of the conduit capable of being connected to the feed of the first chamber of the jack coupled between the arm and the adjustable element, and perrnits the circulation in the two directions of the fluid contained in the conduit on which it is arranged when its control pressure is greater than a given value.
  • FIG. 1 is a part elevational view of a machine on which a lifting device according to the invention is mounted;
  • FIG. 2 is a schematic view of a lifting device according to the invention.
  • FIG. 3 is a schematic view of a variant embodiment of the device shown in FIG. 2.
  • the machine on which the apparatus according to the invention is used comprises a turret l, on which is articulated a jib 2, about axis 3.
  • a first jack 4 is coupled between the jib 2 and an element 5 mounted to pivot on the turret 1 about an axis 6.
  • the jack 4 is articulated by axis 7 on the jib 2, and by axis 8 on the pivoting element 5.
  • a second jack 9 is coupled between the turret l and the element 5 by axes l0 and l 1.
  • the feed circuit of the jacks 4 and 9 comprises a source of pressurized fluid 12, such as a hydraulic pump, which feeds the jack 4 by means of a three-way valve 13, manually controlled by a lever 14 for example.
  • a discharge tank 15 is arranged for the return of the fluid.
  • the jack 4 In the direction of lifting of the jib, the jack 4 is fed by the conduit 16.
  • the pressure of the fluid in the conduit 16 is limited by a calibrated valve 17 which possibly evacuates the fluid to the tank 15.
  • conduit 16 On the conduit 16 there is branched a conduit 18 which terminates in a jack 19 for controlling the position of the slide of a three-way slide valve 20, said slide being in equilibrium under the antagonistic actions of the fluid of the conduit 18 and of a spring 21. It is by means of the distributor 20 that the jack 9 is fed by a source of pressurized fluid 22. A calibrated valve 23 limits the feed pressure of the jack 9.
  • Conduits 24 connect the two chambers of the jack 9 to the valve 20.
  • FIG. 3 A second variant embodiment is shown in FIG. 3. Certain elements are found here which are similar to those described previously and which bear the same reference numerals as those already used.
  • the device is completed by a single pump 25 which is connected to the distributor 13 by a conduit 26.
  • Twc conduits 29 and 30 connect the two chambers 4a and 4b of the jack 4 to the valve 13, the conduit 29 connecting the chamber 40 which is placed in communication by the valve 13 with the delivery conduit 26 of the pump 25 at the moment of lifting of the jib 2.
  • a cutting unit 31 is interposed on the conduits 29 and 30.
  • Two conduits 32, 33 connect this cutting unit 31 to a threeway slide valve 34 and are extended beyond the valve 34 by conduits 35, 36 connected to the chambers 9a and 9b of the jack 9.
  • the valve 34 selectively ensures the isolation of the conduits 35, 36 or the communication of said conduits 35, 36 with the conduits 32, 33, or inversely 33, 32.
  • a pressure pick-up 37 constituted by a piston 38 mounted to slide in the body of a cylinder 39, is connected by a conduit 40 to the conduit 29.
  • a spring 41 is arranged in the chamber 37b between said piston 38 and the cylinder 39.
  • the rod 42 of the piston 38 is substantially coaxial with the piston 38.
  • the bodies of the valve 34 and the pressure pick-up 37 are unitary with the frame of the machine, the turret 1 for example, while a link lever 43 connects the movable elements of the slide valve 34, the pressure pick-up 37 and the jack 9. Therefore the axis 11 of the rod of the jack 9 is articulated to the lever 43, the axis 44 of the rod 42 of the pressure pick-up 37 slides in an aperture 45 provided in the lever 43, and similarly, the axis 46 of the slide of the valve 34 slides in an aperture 47 in the lever 43.
  • the cutting unit 31 will now be described. It will firstly be specified that its function is to isolate the chambers 9a and 9b from the jack 9, when the jack 4 is not actuated, in other words, when the chamber 4a, for example, is isolated both from the pump 25 and from the tank 15.
  • the cutting unit 31 is preferably chosen. It advantageously comprises four non-return valves, two of which are controlled.
  • a first non-return valve 48 is arranged on the conduit 32 which is connected to conduit 29.
  • the non-return valve 48 enables the fluid to pass from conduit 29 towards the valve 34.
  • a second non-return valve 49 is arranged on the the conduit 33, which is connected to conduit 30. This non-return valve 49 permits the fluid to pass from valve 34 towards conduit 30.
  • a third non-return valve 50 is arranged on the conduit 33 beyond the non-return valve 49 with respect to the distributor 34.
  • This non-return valve 50 is connected by a conduit 51 to conduit 32;
  • the conduit 51 is connected to conduit 32 between the non-return valve 48 and the connection of said conduit 32 to the conduit 29. It is mounted in opposition with the non-return valve 49.
  • a fourth non-return valve 52 is arranged on the conduit 29, downstream of the connection of the conduits 32 and 29.
  • This non-return valve 52 is connected to conduit 33 by a conduit 53, which is connected to said conduit 33 between the non-return valve 50 and the connection of the conduits 30 and 33.
  • the valve 52 enables the fluid to pass from the valve 13 toward the chamber 40 ofthe jack 4.
  • non-return valves 50, 52 permit the fluid to pass in the two directions in conduits 33, 29, on which they are arranged, when the control pressures of the fluid contained in the conduits 51, 53 are higher than given threshold values, for example when these pressures are not zero.
  • the jack 4 is fed by conduit 16, by arranging the slide of the valve 13 in the suitable position.
  • the pressure in the conduit 16, necessary for said lifting is low and on this side of the calibration pressure of the valve 17, in order to fix ideas.
  • the action of the pressure in the jack 19 for controlling the slide of the valve 20 is less strong than that of the spring 21, so that the valve 20 is arranged in order to feed the jack 9 on the side of the articulation 11.
  • the jack 9 draws on the element 5, in order to make it pass from position in broken lines, to position 5 in solid lines.
  • This has for its effect, for a given feed pressure in the conduit 16, and for a given discharge thus for a given power, to shorten the lever arm of the lifting torque, thus finally, to lift with a torque weaker than before, but nevertheless sufficient for lifting, but also at a greater lifting speed. It is in fact this which is important for lifting a small load very quickly.
  • the pressure in the conduit 16 is practically equal to the calibration pressure of the valve 17.
  • the slide of the valve 20 is thus repelled by the jack 19, so that it is the chamber of the jack 9 located on the side of the articulation 10 which is fed with pressurized fluid.
  • the element 5 is repelled at 5.
  • the arm of the lifting torque increases, thus the torque increases and, correlatively, the speed decreases. Lifting is carried out less quickly than before, but a heavier load is lifted.
  • the device according to the invention permanently regulates the position of the element 5, thus the position of the axis of articulation 8 of the jack 4 on the turret, so that lifting is carried out at the maximum speed permitted by a given lifting power.
  • the jack 9 is fed, in order to shorten the lifting lever arm, thus in order to increase the lifting speed.
  • the maximum possible speed is therefore constantly kept, this corresponding to the shortest possible maneuvering time, thus to the best possible yield of the lifting installation, and being entirely automatic.
  • non-return valves 49 and 50 which are mounted in opposition block the passage in the conduit 33 and in this way isolate one of the chambers of the jack 9 whatever the position of the slide of the valve 34.
  • said jack 9 remains blocked and provisionally no longer corrects the position of the element 5, this enabling the jib 2 to be maintained immobile, whatever the momentary excess pressures in the chamber 4a of the jack 4, due to the lifting of a load for example, without desired movement of the jib.
  • the device according to FIG. 3 also makes it possible automatically to correct the position of the element 5. If in a first case it is desired to lift the jib 2, the conduit 29 is fed through pump 25 through the suitable maneuvered valve 13. The chamber 4a is thus fed with pressurized fluid whilst the chamber 4b is delivered to the tank by conduit 30.
  • the non-return valve 50 is maintained open by the control pressure of the conduit 51, so that the fluid may escape from the chamber 9b of the jack 9 through conduits 36 and 33, through non-return valves 49 and 50 towards the conduit 30 and the tank 15.
  • This phase of the operation brings about the displacement of the axis 11 in the right direction for adjusting the position of the element 5, and moreover, the pivoting of the lever 43 about the axis 44 of the rod 42 of the pressure pick-up 37, this axis 44 becoming fixed for a given pressure in the conduit 40.
  • the movement of the lever 43 replaces the slide of the valve 34 in median position.
  • the element whose position is controlled by the jack 9
  • a device with slideways for example, for guiding the axis 8 of the jack 4, said device controlled, in one variant embodiment, by a motor actuating an endless screw.
  • the second axis of articulation 7 may also be provided with a device for adjusting its position similar to that of axis 8.
  • means may also be provided to adjust the position of at least one of the axes of articulation of a jack coupled between the jib and a balance beam (not shown) pivoted at the end of the jib.
  • a method of regulation for lifting, at the maximum possible speed, an arm articulated on a resistant structure, by means of a jack fed with pressurized fluid and articulated between said arm and said structure, without the power consumed exceeding a displayed value said method comprising the steps of sensing the supply pressure of said jack and servo controlling the position of at least one axis of articulation of the jack in response to the deviation of the value of the supply pressure of said jack from a pressure corresponding to said displayed value.
  • a lifting apparatus comprising an arm articulated on a structure, a jack coupled between the arm and an element whose position is adjustable with respect to the structure, a control member for controlling the position of said element, and means for operating the control member in response to the feed pressure of the jack.
  • An apparatus as claimed in claim 2, wherein the member for controlling the position of the element is constituted by a second jack coupled between the structure and said element, and, the second jack being selectively placed in communication with a pressurized fluid feed and with a discharge tank, the selective communication is effected by a slide valve, said slide being subjected to the action of the fluid of a conduit branched to the pressurized fluid feed of the jack coupled between the arm and the adjustable element.
  • a cutting unit interposed on the feed and delivery conduits of the jack coupled between the arm and the adjustable element, in addition ensures the communication of the second jack with the pressurized fluid feed when a first chamber of the jack coupled between the arm and the adjustable element is fed with pressurized fluid, while it isolates said second jack when said first chamber of the jack coupled between the arm and the adjustable element is isolated.
  • the cutting unit is constituted by a first non-return valve arranged on a conduit branched in shunt on the conduit capable of being connected to the feed of the first chamber of the jack coupled between the arm and the adjustable element and capable of being connected to one of the chambers of the second jack, while second and third non-return valves are arranged on a conduit capable of being connected to the other chamber of the second jack and are mounted in opposition, while the third non-return valve, arranged beyond the second non-return valve with respect to the second jack, is controlled by the pressure of the fluid of the conduit capable of being connected to the feed of the first chamber of the jack coupled between the arm and the adjustable element, and permits circulation in the two directions of the fluid contained in the conduit on which it is arranged when its control pressure is higher than a given value.
  • the cutting unit is constituted by a first non-return valve arranged on a conduit branched in shunt on the conduit capable of being connected to the feed of the first chamber of the jack coupled between the arm and the adjustable element and capable of being connected to one of the chambers of the second jack, while second and third non-return valves are arranged on a conduit capable of being connected to the other chamber of the second jack and are mounted in opposition, while the third non-return valve, arranged beyond the second non-return valve with respect to the second jack, is controlled by the pressure of the fluid of the conduit capable of being connected to the feed of the first chamber of the jack coupled between the arm and the adjustable element, and permits circulation in the two directions of the fluid contained in the conduit on which it is arranged when its control pressure is higher than a given value.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Manipulator (AREA)
  • Fluid-Pressure Circuits (AREA)
US46592A 1969-06-18 1970-06-16 Method for regulating the lifting of an arm articulated on a structure and lifting apparatus for carrying out this method Expired - Lifetime US3679179A (en)

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Application Number Priority Date Filing Date Title
FR6920342A FR2050593A5 (pt) 1969-06-18 1969-06-18

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US (1) US3679179A (pt)
DE (1) DE2029998A1 (pt)
ES (1) ES380844A1 (pt)
FR (1) FR2050593A5 (pt)
GB (1) GB1285150A (pt)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4006783A (en) * 1975-03-17 1977-02-08 Linden-Alimak Ab Hydraulic operated rock drilling apparatus
US4034649A (en) * 1969-07-31 1977-07-12 Carrier Corporation Automatic self-leveling forks
US4301832A (en) * 1980-05-19 1981-11-24 Smith Dale R Pressure converter valve
US4341148A (en) * 1980-09-30 1982-07-27 Modular Controls Corporation Hydraulic sequencing valve
US4716729A (en) * 1986-01-27 1988-01-05 Kabushiki Kaisha Kobe Seiko Sho Hydraulic drive system for a counterweight dolly in counterbalance type crane
NL2010094C2 (nl) * 2013-01-08 2014-07-09 Innovative Input B V Kraan met deiningcompensatie.
US20180222728A1 (en) * 2017-02-06 2018-08-09 LeRoy W. Mietzner, JR. Boom safe anti-tip system

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4134500A (en) * 1976-11-22 1979-01-16 Sauber Charles J Actuator linkage for mobile derricks and the like
IT1225186B (it) * 1988-09-07 1990-11-02 Guidetti Luigi A Gru di sollevamento di tipo perfezionato per il montaggio su veicoli
AT8294U1 (de) * 2004-12-20 2006-05-15 Penz Rochus Ladekran
CN102674197A (zh) * 2012-05-29 2012-09-19 重庆大学 垂直升降起重机构

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3405605A (en) * 1966-06-14 1968-10-15 Milburn M. Ross Hydraulic pump jack means
US3548570A (en) * 1967-09-11 1970-12-22 Thomson Intern Co The Cutter blade continuously automatically adjustable responsive to change in resistance to its operation

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3405605A (en) * 1966-06-14 1968-10-15 Milburn M. Ross Hydraulic pump jack means
US3548570A (en) * 1967-09-11 1970-12-22 Thomson Intern Co The Cutter blade continuously automatically adjustable responsive to change in resistance to its operation

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4034649A (en) * 1969-07-31 1977-07-12 Carrier Corporation Automatic self-leveling forks
US4006783A (en) * 1975-03-17 1977-02-08 Linden-Alimak Ab Hydraulic operated rock drilling apparatus
US4301832A (en) * 1980-05-19 1981-11-24 Smith Dale R Pressure converter valve
US4341148A (en) * 1980-09-30 1982-07-27 Modular Controls Corporation Hydraulic sequencing valve
US4716729A (en) * 1986-01-27 1988-01-05 Kabushiki Kaisha Kobe Seiko Sho Hydraulic drive system for a counterweight dolly in counterbalance type crane
NL2010094C2 (nl) * 2013-01-08 2014-07-09 Innovative Input B V Kraan met deiningcompensatie.
WO2014109637A1 (en) * 2013-01-08 2014-07-17 Innovative Input B.V. Crane with heave compensation
US20180222728A1 (en) * 2017-02-06 2018-08-09 LeRoy W. Mietzner, JR. Boom safe anti-tip system
US10913639B2 (en) * 2017-02-06 2021-02-09 LeRoy W. Mietzner, JR. Boom safe anti-tip system

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Publication number Publication date
DE2029998A1 (de) 1970-12-23
GB1285150A (en) 1972-08-09
FR2050593A5 (pt) 1971-04-02
ES380844A1 (es) 1972-09-16

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