WO1981000706A1 - Device for servo controlling the relative position and speed of the heads of two booms of a double pivoting crane - Google Patents
Device for servo controlling the relative position and speed of the heads of two booms of a double pivoting crane Download PDFInfo
- Publication number
- WO1981000706A1 WO1981000706A1 PCT/FR1980/000135 FR8000135W WO8100706A1 WO 1981000706 A1 WO1981000706 A1 WO 1981000706A1 FR 8000135 W FR8000135 W FR 8000135W WO 8100706 A1 WO8100706 A1 WO 8100706A1
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- angle
- arrows
- output
- arrow
- comparator
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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
- B66C13/48—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
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
- B66C13/30—Circuits for braking, traversing, or slewing motors
Definitions
- the present invention relates to a device for controlling the relative position and speed of the heads of the two lifting jibs of a double pivoting crane with a single central column, such as cranes arranged on the deck of cargo ships for handling goods.
- the load is fixed in the center of a lifting beam, each end of which is connected to the respective hooks of the two arrows.
- a device for synchronizing the movements of the arrows is then required so that, on the one hand, the lifter always remains substantially horizontal and, on the other hand, the lifting cables of the two arrows remain vertical between the head and the hook so as to avoid non-radial forces being applied to the arrow heads.
- Such a synchronization device is easy to produce when the central column of the crane is not unique, that is to say when the two jibs are parallel to each other.
- the arrows are subject to move in different radial planes of the central column and a control of the position and the speed of the heads of the arrows is required to ensure the movement of heavy loads in good conditions.
- the object of the present invention is a servo device making it possible to solve the problem posed, one of the arrows being called the pilot arrow, the other called the follower arrow.
- this control device essentially comprises in combination:
- a second comparator receiving as input the real measurement and the calculated value of the angle ex and having its output connected to a member for controlling the angle ⁇ .
- FIG. 1 schematically represents a double pivoting crane with a single column
- FIG. 2 shows schematically the servo device according to the present invention.
- a double pivoting crane with a single column has been shown diagrammatically in FIG. 1 with respect to a system of orthogonal axes, the vertical axis Oz being the axis of the single central column 1 of the crane.
- the feet of the arrows 2 and 3 are fixed by means of an articulation respectively to turrets 4 and 5 of axis Oz which can be driven in rotation for example by means of a hydraulic motor not shown in the figure.
- Turrets 4 and 5 are superimposed and are respectively in horizontal planes parallel to the xOy plane.
- the arrows 2 and 3 respectively make an angle ⁇ and says apiquage with the horizontal plane.
- a lifter 6 of length p is used. This lifter must remain substantially horizontal during the maneuvers, and the cables 7 and 8 of the two arrows must remain practically vertical so that no significant non-radial force is applied to the heads of the arrows.
- the slaving device of the invention makes it possible to simultaneously control the two arrows by controlling only one of them, the so-called pilot arrow, the movement of the other known as the follower arrow being slaved to that of the pilot arrow.
- control device will now be described with reference to FIG. 2.
- the device 12 for measuring the angle ⁇ is connected on the one hand to a device 13 for calculating the angle for tracking the arrow-follower and, on the other hand, to a device lk for calculating the angle ⁇ .
- the output of the calculation device 13 of the angle for following the arrow-follower 3, is connected to one of the inputs of a first comparator 15, the second input of which is connected to the device 11 for measuring the real angle , the output of this first comparator 15 being connected to a control member 17 of the angle so as to control the real value of this angle to the calculated value.
- the output of the device 14 for calculating the angle ⁇ of the projections of the two arrows is connected to one of the inputs of a second comparator 16, the second input of which is connected to the device 10 for measuring the angle real ⁇ , the output of this second comparator being connected to a control member 18 of the angle ⁇ so as to control the real value of this angle to the calculated value.
- Such a device for controlling the relative position of the arrow heads can be improved by introducing additional controls combined with the control described above.
- the correction applied to the control element of the follower arrow so that the angle ⁇ of the projections on a horizontal plane is preserved or modified if the angles of aperture are changed must take into account the speed of rotation of the crane.
- the pilot boom performs a given rotation and the follower boom must perform the same rotation plus an angle correction in the same direction as the rotation, the follower boom must have a higher speed of rotation than the pilot boom. Since the actuating motors are generally identical, the correction can only be carried out if the speed of rotation of the pilot boom is slowed down.
- a sign detector 19 which controls the slowing down of the speed of rotation of the pilot boom by means for example of a brake 20 when this rotation has the same sign as the correction of the angle ⁇ to be applied to the follower boom.
- a third calculate 1 performs the calculation of the angular speed which, is a function of the instantaneous angle ⁇ e the correction to be applied to the angle , as shows the formula (1) above.
- This computer 21 therefore has its inputs connected, on the one hand, to the output of comparator 1-5 and, on the other hand, to the output of the measuring device 12 of the real angle ⁇ ; its output connected to the first compa input rator 22 conde input which is connected the output device 23 for measuring the real angular speed of the pilot boom.
- This comparator 22 is connected to a member 24 controlling the slowing down of the angular speed by through a sign detector 25 so that the member 24 controls for example the li cation of a brake when the angular speed of the pilot arrow is of the same sign as the angular speed to be given to the following arrow to effect the necessary angle correction .
- an anti-collision device in order to avoid any collision between the heads of the jibs and between the rigging, an anti-collision device can be added.
- the latter includes a device 26 for calculating the minimum angle ⁇ min possible between the projections of two arrows as a function of their aperture angles ⁇ and
- This calculating device 26 therefore has its inputs connected to the outputs of measuring devices 11 and 12 of the real angles and ⁇ ; its output is connected to one inputs of a comparator 27, the other input of which is connected to the output of the device 10 for measuring the real angle ⁇ , and the output of which is connected to the control member 18 of the angle ⁇ by via a sign detector 28 which stops the crane when the actual angle ⁇ is less than or equal to the calculated angle ⁇ min , via an emergency stop device 29.
- the angle of inclination of the lifting cables 7 and 8 relative to the vertical may remain within reasonable limits if it is accepted that the lifter moves at an angle, that is to say no longer perpendicular to the bisector of the projections of the arrows on a horizontal plane.
- the calculation device 13 can be omitted as well as the comparator 15 and the member
- the servo control device described above can also be simplified by keeping constant the angle ⁇ of the projections of the two arrows on a horizontal plane, for example by locking the turrets 4 and 5 relative to each other, the formula ( 2) only being checked more or less approximately.
- the angle of inclination of the lifting cables 7 and 8 relative to the vertical can be kept within reasonable limits.
- the calculation device 14 and the comparator 16 can be omitted, as can the elements allowing the servo-control of the speed of rotation of the crane, 19 and 20.
Abstract
Method for operating a double pivoting crane, the booms being fixed together by means of a connecting bar, by control of one of the two booms. The servo device comprises mainly in combination: - a measuring device (10) for measuring the actual angle (Alpha) formed by the projections on a horizontal plane of the two booms; - a measuring device (11 and 12) for measuring the actual picking angle (Alpha) and (Beta) of each of the booms, -calculating devices (13 and 14) for calculating the angles (Alpha) and (Alpha) in relation to the angle (Beta) and to the length p of the connecting bar used; - comparators (15 and 16) of which the outputs are respectively connected to the control members (17 and 18) of the angles (Alpha) and (Alpha). Application: handling of heavy loads on board of cargo ships.
Description
DISPOSITIF D'ASSERVISSEMENT- DE LA POSITION ET DE LA VITESSE RELATIVES DES TETES DES DEUX FLECHES D'UNE GRUE PIVOTANTE DOUBLE.DEVICE FOR CONTROLLING - THE RELATIVE POSITION AND SPEED OF THE HEADS OF THE TWO BOOMS OF A DOUBLE SWIVELING CRANE.
La présente invention concerne un dispositif d'asservissement de la position et de la vitesse relatives des têtes des deux flèches de levage d'une grue pivotante double à colonne centrale unique, telle que les grues disposées sur le pont des navires-cargos pour la manutention des marchandises.The present invention relates to a device for controlling the relative position and speed of the heads of the two lifting jibs of a double pivoting crane with a single central column, such as cranes arranged on the deck of cargo ships for handling goods.
Il est connu d'utiliser de telles grues de façon séparée par exemple pour le chargement ou le déchargement de deux cales adjacentes simultanément, ou bien de façon jumelée lorsque le poids de la charge à manipuler est très important.It is known practice to use such cranes separately, for example for the loading or unloading of two adjacent holds simultaneously, or alternatively when the weight of the load to be handled is very high.
Dans ce dernier cas, la charge est fixée au centre d'un palonnier dont- chaque extrémité est reliée aux crochets respectifs des deux flèches. Un dispositif de synchronisation des mouvements des flèches est alors requis pour que, d'une part, le palonnier reste toujours sensiblement horizontal et, d'autre part, les câbles de levage des deux flèches restent verticaux entre la tête et le crochet de manière à éviter que des forces non-radiales soient appliquées sur les têtes des flèches.In the latter case, the load is fixed in the center of a lifting beam, each end of which is connected to the respective hooks of the two arrows. A device for synchronizing the movements of the arrows is then required so that, on the one hand, the lifter always remains substantially horizontal and, on the other hand, the lifting cables of the two arrows remain vertical between the head and the hook so as to avoid non-radial forces being applied to the arrow heads.
Un tel dispositif de synchronisation est aisé à réaliser lorsque la colonne centrale de la grue n'est pas unique, c'est-à-dire lorsque les deux flèches sont parallèles entre elles. Toutefois, lorsque la colonne centrale est unique, les flèches sont assujetties à se mouvoir dans différents plans radiaux de la colonne centrale et un asservissement de la position et de la vitesse des têtes des flèches est requis pour assurer le déplacement des charges lourdes dans de bonnes conditions.
L'objet de la présente invention est un dispositif d'asservissement permettant de résoudre le problème posé, l'une des flèches étant dite flèche-pilote, l'autre dite flèche-suiveuse. Selon l'invention, ce dispositif d'asservissement comporte essentiellement en combinaison :Such a synchronization device is easy to produce when the central column of the crane is not unique, that is to say when the two jibs are parallel to each other. However, when the central column is single, the arrows are subject to move in different radial planes of the central column and a control of the position and the speed of the heads of the arrows is required to ensure the movement of heavy loads in good conditions. The object of the present invention is a servo device making it possible to solve the problem posed, one of the arrows being called the pilot arrow, the other called the follower arrow. According to the invention, this control device essentially comprises in combination:
- un dispositif de mesure de l'angle réel α formé par les projections des flèches sur un plan horizontal, - un dispositif de mesure de l'angle réel d'api quage de chacune des flèches ( β et
),- a device for measuring the real angle α formed by the projections of the arrows on a horizontal plane, - a device for measuring the real angle of api cation of each of the arrows (β and )
- un dispositif de calcul de l'angle d'api
quage de la flèche-suiveuse en fonction de l'angle β d'apiquage de la flèche-pilote, - un premier comparateur recevant en entrées la mesure réelle et la valeur calculée de l'angle d'apiquage de la flèche-suiveuse et
ayant sa sortie connectée à un organe de commande de 1 * angle
- un dispositif de calcul de l'angle α en fonction de l'angle β et de la longueur p du palonnier utilisé,- a device for calculating the api angle cue of the follower boom as a function of the angle β of the pilot boom, - a first comparator receiving as input the real measurement and the calculated value of the angle of attack of the follower and having its output connected to a control device of 1 * angle - a device for calculating the angle α as a function of the angle β and the length p of the lifter used,
- un second comparateur recevant en entrées la mesure réelle et la valeur calculée de 1'an gle ex et ayant sa sortie connectée à un organe de commande de 1'angle α . L'invention sera mieux comprise et d'autres buts, avantages et caractéristiques apparaîtront plus clairement à la lecture de la description qui suit à laquelle est annexé un dessin.- A second comparator receiving as input the real measurement and the calculated value of the angle ex and having its output connected to a member for controlling the angle α. The invention will be better understood and other objects, advantages and characteristics will appear more clearly on reading the description which follows to which a drawing is annexed.
La figure 1 représente schématiquement une grue pivotante double à colonne unique, etFIG. 1 schematically represents a double pivoting crane with a single column, and
La figure 2 représente schématiquement le dispositif d'asservissement conforme à la présente invention.
Une grue pivotante double à colonne unique a été représentée schématiquement figure 1 par rapport à un système d'axes orthogonaux, l'axe vertical Oz étant l'axe de la colonne centrale unique 1 de la grue. Les pieds des flèches 2 et 3 sont fixés à l'aide d'une articulation respectivement à des tourelles 4 et 5 d'axe Oz pouvant être entraînées en rotation par exemple à l'aide d'un moteur hydraulique non représenté sur la figure. Les tourelles 4 et 5 sont super- posées et sont respectivement dans des plans horizontaux parallèles au plan xOy.Figure 2 shows schematically the servo device according to the present invention. A double pivoting crane with a single column has been shown diagrammatically in FIG. 1 with respect to a system of orthogonal axes, the vertical axis Oz being the axis of the single central column 1 of the crane. The feet of the arrows 2 and 3 are fixed by means of an articulation respectively to turrets 4 and 5 of axis Oz which can be driven in rotation for example by means of a hydraulic motor not shown in the figure. Turrets 4 and 5 are superimposed and are respectively in horizontal planes parallel to the xOy plane.
A cause du gréement de la grue en particulier, les deux flèches ne peuvent pas être juxtaposées et leurs projections sur le plan horizontal font un angleα entre elles.Because of the rigging of the crane in particular, the two arrows cannot be juxtaposed and their projections on the horizontal plane make an angle α between them.
D'autre part, les flèches 2 et 3 font respectivement un angle β et
dit d'apiquage avec le plan horizontal.On the other hand, the arrows 2 and 3 respectively make an angle β and says apiquage with the horizontal plane.
Lorsque les flèches sont jumelées pour la manutention de charges lourdes, un palonnier 6 de longueur p est utilisé. Ce palonnier doit rester sensiblement horizontal pendant les manoeuvres, et les câbles 7 et 8 des deux flèches doivent rester pratiquement verticaux de manière à ce qu'aucune force non-radiale importante ne soit appliquée aux têtes des flèches.When the arrows are paired for handling heavy loads, a lifter 6 of length p is used. This lifter must remain substantially horizontal during the maneuvers, and the cables 7 and 8 of the two arrows must remain practically vertical so that no significant non-radial force is applied to the heads of the arrows.
De ce fait, lors de manoeuvres, les angles α et
doivent être corrigés de manière à tenir compte d conditions imposées. II faut noter enfin que l'ensemble de la grue peut être amené à effectuer une rotation, l'angle de rotation CO alors défini par rapport à l'axe Ox.
Lorsque les deux flèches sont jumelées, le dispositif d'asservissement de l'invention permet de commander simultanément les deux flèches en ne commandant qu'une seule d'entre elles celle dite flèche-pilote, le mouvement de l'autre dite flèche-suiveuse étant asservi à celui de la flèche-pilote.Therefore, during maneuvers, the angles α and must be corrected to take account of conditions imposed. Finally, it should be noted that the entire crane can be made to rotate, the angle of rotation CO then defined relative to the axis Ox. When the two arrows are paired, the slaving device of the invention makes it possible to simultaneously control the two arrows by controlling only one of them, the so-called pilot arrow, the movement of the other known as the follower arrow being slaved to that of the pilot arrow.
Le dispositif d'asservissement va maintenant être décrit en référence à la figure 2.The control device will now be described with reference to FIG. 2.
Il comporte tout d'abord des dispositifs 10, 11 et 12 de mesure des angles réels α ,
et β. indiqués ci-avant.First of all, it includes devices 10, 11 and 12 for measuring the real angles α, and β. indicated above.
Le dispositif 12 de mesure de l'angle β est relié d'une part à un dispositif de calcul 13 de l'angle
d'apiquage de la flèche-suiveuse et, d'autre part, à un dispositif de calcul lk de l'angle α .The device 12 for measuring the angle β is connected on the one hand to a device 13 for calculating the angle for tracking the arrow-follower and, on the other hand, to a device lk for calculating the angle α.
On sait en effet que, avec a_ égal à la différence des distances de l'axe Oz de la colonne centrale aux pieds des flèches 2 et 3 , et f2 et f3 les longueurs respectives de la flèche-pilote 2 et de la flèche-suiveuse 3, l'angle
peut être déterminé par la formule :We indeed know that, with a_ equal to the difference of the distances of the axis Oz from the central column at the feet of the arrows 2 and 3, and f 2 and f 3 the respective lengths of the pilot boom 2 and the arrow - follower 3, the angle can be determined by the formula:
f3 cos = a + f2 cos β (1)
pour que les projections des deux flèches sur un plan horizontal aient une même longueur. De même, pour que les projections des têtes des deux flèches sur un plan horizontal soient toujours distantes d'une longueur égale à celle du palonnier quelque soit la portée de la grue, l'angle α est déterminé par la formule : α = 2 Arc sin (2)
dans laquelle p est la longueur du palonnier et 1 la longueur des projections des flèches sur un plan horizontal.
Pour le bon fonctionnement du dispositif de calcul lk de l'angle α , il est donc nécessaire que l'opérateur y introduise la longueur p du palonnier à l'aide de l'entrée de données 9. La sortie du dispositif de calcul 13 de l'angle
d'apiquage de la flèche-suiveuse 3, est reliée à l'une des entrées d'un premier comparateur 15 dont la seconde entrée est connectée au dispositif de mesure 11 de l'angle réel
, la sortie de ce premier comparateur 15 étant reliée à un organe de commande 17 de l'angle
de manière à asservir la valeur réelle de cet angle à la valeur calculée.f 3 cos = a + f 2 cos β (1) so that the projections of the two arrows on a horizontal plane have the same length. Similarly, so that the projections of the heads of the two arrows on a horizontal plane are always distant by a length equal to that of the lifter whatever the range of the crane, the angle α is determined by the formula: α = 2 Arc sin (2) in which p is the length of the lifter and 1 the length of the projections of the arrows on a horizontal plane. For the correct functioning of the calculation device lk of the angle α, it is therefore necessary for the operator to enter there the length p of the spreader using the data input 9. The output of the calculation device 13 of the angle for following the arrow-follower 3, is connected to one of the inputs of a first comparator 15, the second input of which is connected to the device 11 for measuring the real angle , the output of this first comparator 15 being connected to a control member 17 of the angle so as to control the real value of this angle to the calculated value.
De même, la sortie du dispositif de calcul 14 de l'angle α des projections des deux flèches, est reliée à l'une des entrées d'un second comparateur 16 dont la seconde entrée est connectée au dispositif de mesure 10 de l'angle réel α , la sortie de ce second comparateur étant reliée à un organe de commande 18 de l'angle α de manière à asservir la valeur réelle de cet angle à la valeur calculée.Similarly, the output of the device 14 for calculating the angle α of the projections of the two arrows is connected to one of the inputs of a second comparator 16, the second input of which is connected to the device 10 for measuring the angle real α, the output of this second comparator being connected to a control member 18 of the angle α so as to control the real value of this angle to the calculated value.
Un tel dispositif d'asservissement de la position relative des têtes de flèches peut être amélioré en introduisant des asservissements additionnels se combinant avec l'asservissement précédemment décrit.Such a device for controlling the relative position of the arrow heads can be improved by introducing additional controls combined with the control described above.
En particulier, lorsqu'une rotation doit être appliquée à la charge manipulée par les deux flèches jumelées, la correction appliquée à l'organe de commande de la flèche-suiveuse pour que l'angle α des projections sur un plan horizontal soit conservé ou modifié si les angles d'apiquage sont modifiés, doit tenir compte de la vitesse de rotation de la grue.
En effet, si la flèche-pilote effectue une rotation donnée et que la flèche-suiveuse doit effectuer la même rotation plus une correction d'angle de même sens que la rotation, la flèche-suiveuse doit avoir une vitesse de rotation supérieure à celle de la flèche-pilote. Les moteurs d' actionnement étant généralement identiques, la correction ne peut alors être effectuée que si la vitesse de rotation de la flèche-pilote est ralentie. De ce fait, on introduit entre la sortie du comparateur 16 et l'organe de commande 18 de l'angle α un détecteur de signe 19 qui commande le ralentissement de la vitesse de rotation de la flèche-pilote au moyen par exemple d'un
frein 20 lorsque cette rotation est de même signe que la correction de l'angle α à appliquer à la flèche-suiveuse. Par suite, l'angle α peut être maintenu ou corrigé même en rotation de la grue.In particular, when a rotation must be applied to the load handled by the two twin arrows, the correction applied to the control element of the follower arrow so that the angle α of the projections on a horizontal plane is preserved or modified if the angles of aperture are changed, must take into account the speed of rotation of the crane. Indeed, if the pilot boom performs a given rotation and the follower boom must perform the same rotation plus an angle correction in the same direction as the rotation, the follower boom must have a higher speed of rotation than the pilot boom. Since the actuating motors are generally identical, the correction can only be carried out if the speed of rotation of the pilot boom is slowed down. Therefore, between the output of the comparator 16 and the control member 18 of the angle α, a sign detector 19 is introduced which controls the slowing down of the speed of rotation of the pilot boom by means for example of a brake 20 when this rotation has the same sign as the correction of the angle α to be applied to the follower boom. As a result, the angle α can be maintained or corrected even when the crane rotates.
De la même manière, lorsque l'angle d'apiquage de la flèche-pilote est modifié, l'angle correspon dant de la flèche-suiveuse doit également être
modifi Cette modification peut être rendue impossible si l'organe d' actionnement de l'apiquage de la flèche-suiveuse doit agir plus rapidement que celui de la flèche-pilote. De ce fait, il peut être néces saire de ralenti a s certaines conditions la vi tesse d'apiquage de la fleche-pilote.
Similarly, when the angle of the pilot boom is changed, the corresponding angle of the follower boom must also be Modifi This modification can be made impossible if the actuating member of the follower boom aperture must act more quickly than that of the pilot boom. As a result, it may be necessary to idle under certain conditions the speed at which the pilot boom arrives.
Dans ce but un troisième calculate 1 ef fectue le calcul de la vitesse angulaire qui,
est fonction de l'ang instantané β e la correction à applique à l'angle
, comme
le montre la formule (1) ci-avant. Ce calculateur 21 a donc ses entrées connectées, d'une part, à la sortie du comparateur 1-5 et, d'autre part, à la sortie du dispositif de mesure 12 de l'angle réel β ;
sa sortie connectée à la première entrée du compa
rateur 22 conde entrée duquel est connectée la sortie dispositif de mesure 23 de la vitesse angulaire réelle de la flèche-pilote. La sortie de
ce comparateur 22 est reliée à un organe 24 ommande du ralentissement de la vitesse angulaire par
l'intermédiaire d'un détecteur de signe 25 de telle manière que l'organe 24 commande par exemple l li
cation d'un frein lorsque la vitesse angulaire de la flèche-pilote est de même signe que la vite angulaire à donner à la flèche-suiveuse pour effectuer la correction nécessaire de l'angle
.For this purpose a third calculate 1 performs the calculation of the angular speed which, is a function of the instantaneous angle β e the correction to be applied to the angle , as shows the formula (1) above. This computer 21 therefore has its inputs connected, on the one hand, to the output of comparator 1-5 and, on the other hand, to the output of the measuring device 12 of the real angle β; its output connected to the first compa input rator 22 conde input which is connected the output device 23 for measuring the real angular speed of the pilot boom. The exit of this comparator 22 is connected to a member 24 controlling the slowing down of the angular speed by through a sign detector 25 so that the member 24 controls for example the li cation of a brake when the angular speed of the pilot arrow is of the same sign as the angular speed to be given to the following arrow to effect the necessary angle correction .
En outre, de manière à éviter toute collision entre les têtes des flèches et entre les gréements, un dispositif anti-collision peut être ajouté. Ce dernier inclut un dispositif de calcul 26 de l'angle minimal α min possible entre les projections de deu flèches en fonction de leurs angles d'apiquage β et
Ce dispositif de calcul 26 a donc, ses entrées relié aux sorties d dispositifs de mesure 11 et 12 des angles réels et β ; sa sortie est reliée à l'une
des entrées d'un comparateur 27 dont l'autre entrée est reliée à la sortie du dispositif de mesure 10 de l'angle réel α , et dont la sortie est reliée à l'or- gane de commande 18 de l'angle α par l'intermédiaire d'un détecteur de signe 28 qui commande l'arrêt de la grue lorsque l'angle α réel est inférieur ou égal à l'angle α min calculé, par l'intermédiaire d'un dispositif d'arrêt d'urgence 29. Lorsque la précision souhaitée dans l'asservissement n'est pas très rigoureuse, certaines simplifications peuvent être valablement apportées au dispositif précédemment décrit. Toutefois, les conditions
imposées ne seront plus qu' approximativement respectées, en particulier en ce qui concerne le maintien de l'horizontalité du palonnier 6 et de la verticalité des câbles de levage 7 et 8 entre les têtes des flèches et les crochets d'attache, du palonnier.In addition, in order to avoid any collision between the heads of the jibs and between the rigging, an anti-collision device can be added. The latter includes a device 26 for calculating the minimum angle α min possible between the projections of two arrows as a function of their aperture angles β and This calculating device 26 therefore has its inputs connected to the outputs of measuring devices 11 and 12 of the real angles and β; its output is connected to one inputs of a comparator 27, the other input of which is connected to the output of the device 10 for measuring the real angle α, and the output of which is connected to the control member 18 of the angle α by via a sign detector 28 which stops the crane when the actual angle α is less than or equal to the calculated angle α min , via an emergency stop device 29. When the precision desired in the servo-control is not very rigorous, certain simplifications can be validly made to the device described above. However, the conditions imposed will be more than approximately respected, in particular with regard to maintaining the horizontality of the lifter 6 and the verticality of the lifting cables 7 and 8 between the heads of the arrows and the hooks of the lifter.
Par exemple, en fixant β , la formule (1)
ne sera plus vérifiée qu'approximativement.For example, by fixing β, formula (1) will only be checked approximately.
Par un choix convenable de. la longueur de chaque flèche, l'angle d'inclinaison des câbles de levage 7 et 8 par rapport à la verticale peut rester dans des limites raisonnables si l'on accepte que le palonnier se déplace en biais, c'est-à-dire ne soit plus perpendiculaire à la bissectrice des projections des flèches sur un plan horizontal. Dans ce cas, le dispositif de calcul 13 peut être supprimé ainsi que le comparateur 15 et l'organeBy a suitable choice of. the length of each boom, the angle of inclination of the lifting cables 7 and 8 relative to the vertical may remain within reasonable limits if it is accepted that the lifter moves at an angle, that is to say no longer perpendicular to the bisector of the projections of the arrows on a horizontal plane. In this case, the calculation device 13 can be omitted as well as the comparator 15 and the member
17, et que les éléments relatifs à 1'asservissement de la vitesse angulaire
de la fleche-pilote, 21,17, and that the elements relating to the angular speed control of the pilot arrow, 21,
22, 23, 24, 25. Toutefois, si dans le cas où = β , le dis
positif anti-collision n'est pas nécessaire, il peut être malgré tout conservé de manière à être utilisé lorsque les flèches fonctionnent séparément de manière à augmenter sans aucun risque la surface de la zone de travail de chacune des deux flèches.22, 23, 24, 25. However, if in the case where = β, say positive anti-collision is not necessary, it can nevertheless be kept so as to be used when the arrows work separately so as to increase without any risk the working area of each of the two arrows.
Le dispositif d'asservissement précédemment décrit peut également être simplifié en maintenant constant l'angle α des projections des deux flèches sur un plan horizontal, par exemple par verrouillage des tourelles 4 et 5 l'une par rapport à l'autre, la formule (2) n'étantplus vérifiée qu'approximativement. Par un choix convenable de la longueur du palonnier. en fonction de la portée de la grue, l'angle d'inclinaison des câbles de levage 7 et 8 par rapport à la
verticale peut être maintenu dans des limites raisonnables.The servo control device described above can also be simplified by keeping constant the angle α of the projections of the two arrows on a horizontal plane, for example by locking the turrets 4 and 5 relative to each other, the formula ( 2) only being checked more or less approximately. By a suitable choice of the length of the spreader. depending on the crane's reach, the angle of inclination of the lifting cables 7 and 8 relative to the vertical can be kept within reasonable limits.
Dans ce cas, le dispositif de calcul 14 et le comparateur 16 peuvent être supprimés de même que les éléments permettant l'asservissement en vitesse de rotation de la grue, 19 et 20.In this case, the calculation device 14 and the comparator 16 can be omitted, as can the elements allowing the servo-control of the speed of rotation of the crane, 19 and 20.
Bien qu'un seul mode de réalisation de l'invention ait été décrit, il est évident que toute modification apportée par l'Homme de l'Art dans l'esprit de l'invention ne sortirait pas du cadre de la présente invention. Par exemple, un dispositif assurant la compensation de la longueur des câbles de levage sortie jpeut être valablement ajouté.
Although only one embodiment of the invention has been described, it is obvious that any modification made by a person skilled in the art in the spirit of the invention would not depart from the scope of the present invention. For example, a device ensuring compensation for the length of the lifting cables exited j can be validly added.
Claims
1.- Dispositif d'asservissement de la position et de la vitesse relatives des têtes des deux flèches d'une grue pivotante double à colonne centrale unique, notamment disposée sur le pont des navires-cargos pour la manutention des marchandises, dont les flèches sont assujetties à se mouvoir dans différents plans radiaux de la colonne centrale unique, pour faire fonctionner la grue des deux flèches jumelées à l'aide d'un palonnier dont chaque extrémité est reliée au crochet de levage respectif de chaque flèche, par commande unique de la flèche dite pilote, l'autre flèche étant dite suiveuse caractérise en ce qu'il comporte, en combinaison :1.- Device for controlling the relative position and speed of the heads of the two jibs of a double pivoting crane with a single central column, in particular arranged on the deck of cargo ships for handling goods, the jibs of which are subject to move in different radial planes of the single central column, to operate the crane of the two twin jibs using a lifting beam, each end of which is connected to the respective lifting hook of each jib, by single command of the so-called pilot arrow, the other arrow being called follower characterized in that it comprises, in combination:
- un dispositif de mesure (10) de l'angle réel α formé par les projections des dites flèches (2 et 3) sur un plan horizontal,a device for measuring (10) the real angle α formed by the projections of said arrows (2 and 3) on a horizontal plane,
- un dispositif de mesure (11 et 12) de l'angle réel d'apiquage ( 
et /S ) de chacune des dites flèches, - un dispositif de calcul (13) de l'angle 
d'apiquage de la dite flèche-suiveuse ( en fonction de l'angle β d'apiquage de la dite flèche-pilote (2),- a device (11 and 12) for measuring the actual angle of aperture ( and / S) of each of said arrows, - a device (13) for calculating the angle of the so-called follower boom (as a function of the aperture angle β of said pilot boom (2),
- un premier comparateur (15) dont les entrées sont respectivement reliées au dispositif de mesure (11) et au dispositif de calcul (13) du dit angle o d'apiquage de la dite flèche suiveuse et dont la sortie est connectée à un organe de commande (1?) de l'angle , 
- un dispositif de calcul (14) de l'angle α des projections des dites flèches (2, 3) sur un plan horizontal en fonction du dit angle β d'apiquage de la dite flèche-pilote (2) et de la longueur p du dit palonnier, - un second comparateur (16) dont les entrées sont respectivement reliées au dispositif de mesure (10) et au dispositif de calcul (14) du dit angle α et dont la sortie est connectée à un organe de commande (18) du dit angle α- A first comparator (15), the inputs of which are respectively connected to the measuring device (11) and to the calculating device (13) of the said angle o of application of the said follower arrow and the output of which is connected to a command (1?) of the angle, - a device (14) for calculating the angle α of the projections of said arrows (2, 3) on a horizontal plane as a function of said angle of aperture β of said pilot arrow (2) and the length p said spreader bar, - a second comparator (16) whose inputs are respectively connected to the measuring device (10) and to the calculating device (14) of said angle α and whose output is connected to a control member (18) of said angle α
2.- Dispositif d'asservissement selon la revendication 1 caractérisé en ce que, entre la sortie du dit second comparateur (16) et l'entrée de l'organe de commande (18) du dit angle α , est disposé en série un détecteur de signe (19) à la sortie duquel est connecté un organe (20) commandant le ralentissement de la vitesse de rotation de la dite flèche-pilote (2) lorsque cette rotation est de même signe que la correction d'angle à apporter. 
2.- servo device according to claim 1 characterized in that, between the output of said second comparator (16) and the input of the control member (18) of said angle α, is arranged in series a detector of sign (19) at the output of which is connected a member (20) controlling the slowing down of the speed of rotation of said pilot arrow (2) when this rotation is of the same sign as the angle correction to be made.
3.- Dispositif d'asservissement selon la revendication 1 et 2 caractérisé en ce que la sortie du dit premier comparateur (15) est reliée en outre à un dispositif de calcul (21) de la vitesse angulaire de la modification de l'angle β d'apiquage de la dite flèche-pilote (2) dont une autre entrée est reliée au dispositif de mesure (12) du dit angle β et dont la sortie est connectée à l'une des entrées d'un troisième comparateur (22) à l'autre entrée duquel est reliée la sortie d'un dispositif de mesure (23) de la dite vitesse angulaire réelle et à la sortie duquel est connecté en série avec un détecteur de signe (25) un organe (24) commandant le ralentissement de la dite vitesse angulaire par l'intermédiaire d'un détecteur de signe (25) lorsque la dite vitesse angulaire est de même signe que la vitesse angulaire à donner à la dite flèche-suiveuse (3) pour effectuer une correction par l'intermédiaire de l'organe de commande (17) de l'angle 
3.- servo device according to claim 1 and 2 characterized in that the output of said first comparator (15) is further connected to a calculating device (21) of the angular speed of the modification of the angle β for applying said pilot arrow (2), another input of which is connected to the measuring device (12) of said angle β and the output of which is connected to one of the inputs of a third comparator (22) to the other input of which is connected the output of a measuring device (23) of said actual angular speed and to the output of which is connected in series with a sign detector (25) a member (24) controlling the deceleration of said angular velocity by means of a sign detector (25) when said angular velocity is the same sign as the angular velocity to be given to said follower arrow (3) to effect a correction by means of the angle control member (17)
4.- Dispositif d'asservissement selon les revendications 1, 2 et 3 caractérisé en ce qu'il comporte, en outre, en combinaison, un dispositif de calcul (26) de l'angle minimal α possible entre les projections des dites flèches sur un plan horizontal de manière à éviter toute collision entre les dites flèches, dont les entrées sont connectées aux dits dispositifs de mesure (11 et 12) des dits angles ( 
et β ) d'apiquage des dites flèches (3 et 2) et dont la sortie est reliée à l'une des entrées d'un quatrième comparateur (27) dont l'autre entrée est reliée au dit dispositif de mesure (10) du dit angle α , la borne de sortie du dit quatrième comparateur (27) étant reliée au dit organe de commande (18) de l'angle α par l'intermédiaire d'un détecteur de signe (28) dont le signal de sortie est appliqué à un dispositif (29) commandant l'arrêt d'urgence des dites flèches lorsque l'angle α déterminé par le dit dispositif de mesure (10) est inférieur ou égal au dit angle minimal calculé par le dit dispositif de calcul (26).4. A control device according to claims 1, 2 and 3 characterized in that it further comprises, in combination, a device for calculating (26) the minimum angle α possible between the projections of said arrows on a horizontal plane so as to avoid any collision between said arrows, the inputs of which are connected to said measuring devices (11 and 12) of said angles ( and β) for applying said arrows (3 and 2) and the output of which is connected to one of the inputs of a fourth comparator (27) the other input of which is connected to said measuring device (10) of the said angle α, the output terminal of said fourth comparator (27) being connected to said control member (18) of the angle α by means of a sign detector (28) whose output signal is applied to a device (29) controlling the emergency stop of said arrows when the angle α determined by said measuring device (10) is less than or equal to said minimum angle calculated by said calculating device (26).
5.- Dispositif d'asservissement selon l'une quelconque des revendications 1 à 4, caractérisé en ce que les angles d'apiquage ( 
et β ) des dites flèches sont égaux.5. A control device according to any one of claims 1 to 4, characterized in that the angles of attachment ( and β) said arrows are equal.
6. Dispositif d'asservissement selon l'une quelconque des revendications 1 à 4 caractérisé en ce que les dites flèches (2 et 3) sont verrouillées de manière à maintenir constant l'angle α formé par leurs projections sur un plan horizontal. 6. Control device according to any one of claims 1 to 4 characterized in that said arrows (2 and 3) are locked so as to keep constant the angle α formed by their projections on a horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| BR8008804A BR8008804A (en) | 1979-09-07 | 1980-09-02 | SERVO-DEVICE OF POSITION AND SPEED RELATIVE TO THE HEADS OF TWO BOVES OF A SWIVELING CRANE WITH SINGLE CENTRAL COLUMN |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR7922380 | 1979-09-07 | ||
| FR7922380A FR2464914A1 (en) | 1979-09-07 | 1979-09-07 | DEVICE FOR CONTROLLING THE POSITION AND THE SPEED RELATIVE OF THE HEADS OF THE TWO BOOMS OF A DOUBLE PIVOTING CRANE |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO1981000706A1 true WO1981000706A1 (en) | 1981-03-19 |
Family
ID=9229442
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/FR1980/000135 WO1981000706A1 (en) | 1979-09-07 | 1980-09-02 | Device for servo controlling the relative position and speed of the heads of two booms of a double pivoting crane |
Country Status (7)
| Country | Link |
|---|---|
| JP (1) | JPS56501241A (en) |
| AR (1) | AR225460A1 (en) |
| BR (1) | BR8008804A (en) |
| FR (1) | FR2464914A1 (en) |
| NO (1) | NO154304C (en) |
| SE (1) | SE8102803L (en) |
| WO (1) | WO1981000706A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4645943A (en) * | 1984-10-15 | 1987-02-24 | Dallas Semiconductor Corporation | Space-saving back-up power supply |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006040782A1 (en) | 2006-08-31 | 2008-03-20 | Liebherr-Werk Nenzing Gmbh, Nenzing | Safety and control procedures for cranes |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2001743A1 (en) * | 1968-02-12 | 1969-10-03 | Siemens Ag | |
| DE1531221A1 (en) * | 1967-11-02 | 1969-12-11 | Licentia Gmbh | Device for coordinating the relative position of the moving parts of one or more luffing cranes |
| DE1556359A1 (en) * | 1968-02-09 | 1970-07-02 | Licentia Gmbh | Loading harness |
| DE1961345A1 (en) * | 1969-12-06 | 1971-06-16 | Siemens Ag | Control for two luffing slewing cranes working in parallel on a common load |
| DE1965651A1 (en) * | 1969-12-31 | 1971-07-08 | Siemens Ag | crane |
| FR2070069A1 (en) * | 1970-05-15 | 1971-09-10 | Mitsubishi Heavy Ind Ltd | |
| DE2041306A1 (en) * | 1970-08-20 | 1972-02-24 | Atlas Mak Maschinenbau Gmbh | Device for synchronizing control of two independent jibs of hydraulic ship cranes |
| FR2210565A1 (en) * | 1972-12-19 | 1974-07-12 | Havard Jean |
-
1979
- 1979-09-07 FR FR7922380A patent/FR2464914A1/en active Granted
-
1980
- 1980-09-02 JP JP50196980A patent/JPS56501241A/ja active Pending
- 1980-09-02 BR BR8008804A patent/BR8008804A/en unknown
- 1980-09-02 WO PCT/FR1980/000135 patent/WO1981000706A1/en unknown
- 1980-09-08 AR AR282438A patent/AR225460A1/en active
-
1981
- 1981-05-05 SE SE8102803A patent/SE8102803L/en not_active Application Discontinuation
- 1981-05-06 NO NO811523A patent/NO154304C/en unknown
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1531221A1 (en) * | 1967-11-02 | 1969-12-11 | Licentia Gmbh | Device for coordinating the relative position of the moving parts of one or more luffing cranes |
| DE1556359A1 (en) * | 1968-02-09 | 1970-07-02 | Licentia Gmbh | Loading harness |
| FR2001743A1 (en) * | 1968-02-12 | 1969-10-03 | Siemens Ag | |
| DE1961345A1 (en) * | 1969-12-06 | 1971-06-16 | Siemens Ag | Control for two luffing slewing cranes working in parallel on a common load |
| DE1965651A1 (en) * | 1969-12-31 | 1971-07-08 | Siemens Ag | crane |
| FR2070069A1 (en) * | 1970-05-15 | 1971-09-10 | Mitsubishi Heavy Ind Ltd | |
| DE2041306A1 (en) * | 1970-08-20 | 1972-02-24 | Atlas Mak Maschinenbau Gmbh | Device for synchronizing control of two independent jibs of hydraulic ship cranes |
| FR2210565A1 (en) * | 1972-12-19 | 1974-07-12 | Havard Jean |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4645943A (en) * | 1984-10-15 | 1987-02-24 | Dallas Semiconductor Corporation | Space-saving back-up power supply |
Also Published As
| Publication number | Publication date |
|---|---|
| SE8102803L (en) | 1981-05-05 |
| BR8008804A (en) | 1981-06-23 |
| NO154304B (en) | 1986-05-20 |
| AR225460A1 (en) | 1982-03-31 |
| FR2464914B1 (en) | 1983-06-24 |
| NO811523L (en) | 1981-05-06 |
| FR2464914A1 (en) | 1981-03-20 |
| NO154304C (en) | 1986-08-27 |
| JPS56501241A (en) | 1981-09-03 |
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